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TECHNICAL BRIEFS

Modeling of Flexible Robot-Payload Systems Through Component Synthesis

[+] Author and Article Information
T. Zhou, J. W. Zu, A. A. Goldenberg

Department of Mechanical and Industrial Engineering, 5 King’s College Road, University of Toronto, Toronto, Ontario, Canada M5S 3G8

J. Dyn. Sys., Meas., Control 122(2), 381-386 (Jan 12, 1998) (6 pages) doi:10.1115/1.482477 History: Received January 12, 1998
Copyright © 2000 by ASME
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References

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Ing, J. G.-L., 1994, “Robotic Fixtureless Assembly of Sheet Metal Parts Using Finite Element Models,” M. A. Sc. thesis, Department of Mechanical and Industrial Engineering, University of Toronto, Canada.
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Smet,  M. D., Liefooghe,  C., Sas,  P., and Snoeys,  R., 1989, “Dynamic Analysis of Flexible Structures Using Component Mode Synthesis,” ASME J. Appl. Mech., 56, pp. 874–880.
Craig,  R. R., and Bampton,  M. C., 1968, “Coupling of Substructures for Dynamic Analyses,” AIAA J., 6, No. 7, pp. 1313–1319.
Spong, M. W., and Vidyasagar, M., 1989, Robot Dynamics and Control, Wiley, New York.
Shabana, A. A., 1989, Dynamics of Multibody Systems, Wiley, New York.

Figures

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A typical flexible robot-payload system
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Coordinate systems and vector relations
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Tip responses for small rigid-body motion case
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Payload responses versus locations of contact points
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Nominal trajectory of the system with large rigid-body motion
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Tip deflections for large rigid-body motion case
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Model comparison: Tip vibration magnitudes versus rotations of joint 3

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