Paper Title:
Nonlinear Recursive Formulation for Kinematic and Dynamic Analysis of Robotic Manufacturing Systems
  Abstract

The objective of this paper is to develop a nonlinear recursive formulation for the dynamic analysis of robotic manufacturing systems. The nonlinear recursive equations are used for open-loop flexible manipulators that undergo large translational and rotational displacements. These equations are formulated in terms of a set of time invariant scalars, vectors and matrices that depend on the spatial coordinates as well as the assumed displacement fields, and these time invariant quantities represent the dynamic manufacturing couplings between the rigid body motion and elastic deformation. This formulation applies recursive procedures with the nonlinear equations for flexible manipulators to obtain a large, loosely coupled system equation of motion in robotic manufacturing systems. The numerical techniques used to solve for the system equations of motion can be more efficiently implemented in any computer systems. The algorithms presented in this investigation are illustrated by using standard mechanical joints for robotic manufacturing systems that can be easily extended to other special joints. The nonlinear recursive formulation developed in this paper is illustrated by a robotic manufacturing system using standard revolute mechanical joints.

  Info
Periodical
Materials Science Forum (Volumes 505-507)
Edited by
Wunyuh Jywe, Chieh-Li Chen, Kuang-Chao Fan, R.F. Fung, S.G. Hanson,Wen-Hsiang Hsieh, Chaug-Liang Hsu, You-Min Huang, Yunn-Lin Hwang, Gerd Jäger, Y.R. Jeng, Wenlung Li, Yunn-Shiuan Liao, Chien-Chang Lin, Zong-Ching Lin, Cheng-Kuo Sung and Ching-Huan Tzeng
Pages
553-558
DOI
10.4028/www.scientific.net/MSF.505-507.553
Citation
Y. L. Hwang, "Nonlinear Recursive Formulation for Kinematic and Dynamic Analysis of Robotic Manufacturing Systems", Materials Science Forum, Vols. 505-507, pp. 553-558, 2006
Online since
January 2006
Authors
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Yunn Lin Hwang, Shen Jenn Huang
Abstract:In this paper, a nonlinear recursive method for the dynamic and kinematic analysis of a closed-loop flexible manufacturing system is...
1015
Authors: Miao Yu, Ji Zhao
Abstract:The hybrid polishing kinematics machine tool (HPKMT) which is made up of “3 axes parallel + 2 axes series” is developed with the specially...
53
Authors: Yunn Lin Hwang, Shen Jenn Hwang
Abstract:Generally speaking, the flexible manufacturing systems can be classified into two main groups: open-loop and closed-loop systems. In this...
1501
Authors: Wei Jiang, Xin Luo, Wen Chuan Jia, Yuan Tai Hu, Hong Ping Hu
Chapter 2: Materials Science in Computer-Aided Manufacturing and Design
Abstract:A new algorithm is presented to calculate the degrees of freedom (DOFs) of spatial complex mechanisms by using the coefficient matrix of the...
324
Authors: S. Nader Nabavi, Alireza Akbarzadeh, Saeed Abolghasemi
Chapter 6: Robotics: Modelling, Simulation etc.
Abstract:In this paper, kinematic relationships for a 3-PRR planar parallel robot are first presented. The robot dynamics equations are formulated...
414