Comparison and Validation of Dynamics Simulation Models for a Structurally Flexible Manipulator

[+] Author and Article Information
Jeff Stanway, Inna Sharf

Department of Mechanical Engineering, University of Victoria, Victoria, British Columbia, Canada V8W 3P6

Chris Damaren

Department of Mechanical Engineering, University of Canterbury, Private Bay 4800, Christchurch, New Zealand

J. Dyn. Sys., Meas., Control 120(3), 404-409 (Sep 01, 1998) (6 pages) doi:10.1115/1.2805417 History: Received June 12, 1996; Online December 03, 2007


This paper presents a series of experimental results obtained with a 2-DOF flexible-link direct-drive manipulator. First, we conduct a frequency analysis by comparing experimental natural frequencies with those predicted by the finite element model. Then, the time responses from four dynamics models are compared with each other and with the experiment. It is demonstrated that higher order nonlinearities are less important for slow maneuvers by close agreement between all four simulation models. For fast maneuvers, the two simpler models fail to predict a physically meaningful response. Good agreement with experimental results is attained with a model which accounts for all inertial nonlinearities. It is also shown that inclusion of damping in the dynamics models has a significant impact on their performance, as well as improving the correlation with experimental data.

Copyright © 1998 by The American Society of Mechanical Engineers
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