Show simple item record

dc.contributor.authorFiroozabadi, Amirhossein Eshaghiyeh
dc.contributor.authorEbrahimi, Saeed
dc.contributor.authorFont Llagunes, Josep Maria
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.identifier.citationFiroozabadi, A.E., Ebrahimi, S., Font-Llagunes, J.M. A comparative study of elastic motions in trajectory tracking of flexible RPR planar manipulators moving with high speed. "Robotica", July 2017, vol. 35, no. 7, p. 1523-1540.
dc.description.abstractThe study of inertial forces effects at high speeds in flexible parallel manipulators, which generate undesired deviations, is a challenging task due to the coupled and complicated equations of motion. A dynamic model of the Revolute Prismatic Revolute (RPR) planar manipulators (specifically 3-RPR, 2-RPR and 1-RPR) with flexible intermediate links is developed based on the assumed mode method. The flexible intermediate links are modeled as Euler-Bernoulli beams with fixed-free boundary conditions. Using the Lagrange multipliers, a generalized set of differential algebraic equations (DAEs) of motion is developed. In the simulations, the rigid body motion of the end-effector is constrained by some moving constraint equations while the vibrations of the flexible intermediate links cause deviations from the desired trajectory. From this analysis, the dynamic performance of the manipulators when tracking a desired trajectory is evaluated. A comparison of the results indicates that in some cases, adding each extra RPR chain in the n-RPR planar manipulators with flexible intermediate links reduces the stiffness and accuracy due to the inertial forces of the flexible links, which is opposite to what would be expected. The study provides insights to the design, control and suitable selection of the flexible manipulators.
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica
dc.titleA comparative study of elastic motions in trajectory tracking of flexible RPR planar manipulators moving with high speed
dc.contributor.groupUniversitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (author's final draft)
local.citation.authorFiroozabadi, A.E.; Ebrahimi, S.; Font-Llagunes, J.M.

Files in this item


This item appears in the following Collection(s)

Show simple item record

Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain