Global Elastodynamic Performance Criterion of Manipulators with Flexible Joints

• Fabian A. Lara-Molina UFTM
• Didier Dumur CNRS-Univ. Paris-Sud / Univ. Paris-Saclay

Resumo

This paper proposes a novel design criterion for manipulators with flexible joints based on elastodynamic performance. Consequently, the elastodynamic performance is assessed; the eigenvalue problem is solved to determine the first natural frequency based on the manipulator's inertia and stiffness matrices. Then, the elastodynamic criterion is evaluated within a region of the Cartesian workspace in order to obtain a global measure. The global elastodynamic performance of a planar serial manipulator and a planar parallel manipulator with flexible joints were obtained. The numerical results show a high dependency of the elastodynamic performance on the configuration and geometric parameters of the manipulator.

Palavras-chave: Parallel robots, Transmission line matrix methods, Education, Manipulators, Eigenvalues and eigenfunctions, Frequency measurement, Behavioral sciences, Parallel Manipulator, Elastodynamics, Design Criterion, Flexible Manipulators