In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...

In this paper, we introduce a method that provides a nonlinear noncollocated output for trajectory tracking of a flexible one-link robot. The link is modeled as a finite-order Lagrangian system obtained from truncated modal analysis. This noncollocated output is derived based on viewing a flexible link robot arm as an underactuated mechanical system and then applying an appropriate change of co...

This paper presents development of a dynamic model of a two-link flexible manipulator. An explicit, complete, and accurate nonlinear dynamic model of the system is developed using assumed mode method. The Lagrangian approach is used to derive the dynamic model of the system. Several responses including angular positions and displacements of both links are obtained and analysed.

A new approach to the design of light manipulator arms with long links is proposed in this paper. In contrast with traditional schemes, a flexible link is provided with a special force unloading system (FUS) having electrohydraulic drives. As a result, the static and dynamic errors caused by link structural deflections are minimized. Strategy of control the unloading actuators with measuring st...

The active vibration suppression of a single flexible link manipulator using a piezoelectric actuator is investigated. For this purpose, a finite element (FE) model is developed for the modal and transient analysis of a cantilever beam and a flexible link manipulator. A proportional control strategy is employed in a FE model to adjust the voltage applied to the piezoelectric actuator so as to c...