0
RESEARCH PAPERS

Reduction of the End Effector Sensitivity to the Structural Deflections of a Single Flexible Link: Theoretical and Experimental Results

[+] Author and Article Information
Nabil G. Chalhoub, Xiaoying Zhang

Department of Mechanical Engineering, Wayne State University, Detroit, Michigan 48202

J. Dyn. Sys., Meas., Control 115(4), 658-666 (Dec 01, 1993) (9 pages) doi:10.1115/1.2899193 History: Received February 01, 1992; Revised December 01, 1992; Online March 17, 2008

Abstract

The fine positioning problem of the gripper of flexible robotic manipulators is addressed in this study. A two-axis cartesian micro-manipulator is implemented to reduce the sensitivity of the gripper to the structural deformations of a single flexible link. A laser head with a dual axis photodetector are used to provide direct measurements of the transverse deflections at the free-end of the beam and to detect mechanical inaccuracies caused by manufacturing imperfections and assembly misalignment. The advantages of the integrated system of the micro-manipulator with a single compliant beam are demonstrated and compared to the one without the micro-manipulator for two different control schemes, “rigid body controller (RBC)” and “rigid and flexible motion controller (RFMC).” Both theoretical and experimental results have proven the capability of the micro-manipulator in significantly improving the gripper positional accuracy. Furthermore, it was demonstrated that the micro-manipulator tends to complement rather than overlap the efforts exerted by the host beam controller.

Copyright © 1993 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In