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Communication Dans Un Congrès Année : 2022

Global Elastodynamic Performance Criterion of Manipulators with Flexible Joints

Résumé

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.
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Dates et versions

hal-03939776 , version 1 (15-01-2023)

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Fabian Lara-Molina, Didier Dumur. Global Elastodynamic Performance Criterion of Manipulators with Flexible Joints. 19th IEEE Latin American Robotics Symposium (LARS 2022) and 14TH BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR 2022), Oct 2022, São Bernardo do Campo, Brazil. pp.73-78, ⟨10.1109/LARS/SBR/WRE56824.2022.9995883⟩. ⟨hal-03939776⟩
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