This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.
| Published in | American Journal of Mechanical and Industrial Engineering (Volume 2, Issue 4) |
| DOI | 10.11648/j.ajmie.20170204.13 |
| Page(s) | 174-188 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2017. Published by Science Publishing Group |
Flexible Manipulator, Static Analysis, Dynamic Modeling, Finite Element Method, Kinematic Constraints, Neural Network Model
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APA Style
K. V. Varalakshmi, J. Srinivas. (2017). Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations. American Journal of Mechanical and Industrial Engineering, 2(4), 174-188. https://doi.org/10.11648/j.ajmie.20170204.13
ACS Style
K. V. Varalakshmi; J. Srinivas. Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations. Am. J. Mech. Ind. Eng. 2017, 2(4), 174-188. doi: 10.11648/j.ajmie.20170204.13
AMA Style
K. V. Varalakshmi, J. Srinivas. Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations. Am J Mech Ind Eng. 2017;2(4):174-188. doi: 10.11648/j.ajmie.20170204.13
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Download@article{10.11648/j.ajmie.20170204.13,
author = {K. V. Varalakshmi and J. Srinivas},
title = {Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations},
journal = {American Journal of Mechanical and Industrial Engineering},
volume = {2},
number = {4},
pages = {174-188},
doi = {10.11648/j.ajmie.20170204.13},
url = {https://doi.org/10.11648/j.ajmie.20170204.13},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajmie.20170204.13},
abstract = {This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.},
year = {2017}
}
TY - JOUR T1 - Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations AU - K. V. Varalakshmi AU - J. Srinivas Y1 - 2017/07/06 PY - 2017 N1 - https://doi.org/10.11648/j.ajmie.20170204.13 DO - 10.11648/j.ajmie.20170204.13 T2 - American Journal of Mechanical and Industrial Engineering JF - American Journal of Mechanical and Industrial Engineering JO - American Journal of Mechanical and Industrial Engineering SP - 174 EP - 188 PB - Science Publishing Group SN - 2575-6060 UR - https://doi.org/10.11648/j.ajmie.20170204.13 AB - This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators. VL - 2 IS - 4 ER -
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