HIGHLIGHTS

  • elstic-dynamic modeling
  • estimate of the pose in the systems with flexible link

SOMMARIO

The team of MdM have develop a elastic-dynamic model for continuos systems for to purposes evaluate the deflection of the link to serial and parallel robot.

The model  find application in robot assemble by link with high compliance, which are subjected to high acceleration. In this context other that the control and the joint compliance becomes important also the compliance of the link. The model is been develop and realized using the deflection screw theory, in particular the flexional deflection is been describe by Beziér polynomial using the kinematic conditions of the theory of the Timoshenko beam.

The model realized is been subsequently verify by vibrational analysis with flexible model develop in MSC ADAMS. This comparison show full agreement of the value of the normal frequency of the models.

Evolution of the trasversal and axial deflection of the link for a five bar with a flexible link to following appling to the constant acceleration to the prismatic joints.

Evolution of the trasversal and axial deflection of the link for a five bar with a flexible link to following appling to the constant accelerationto to the prismatic joints using MSC ADAMS software.