Hostname: page-component-586b7cd67f-tf8b9 Total loading time: 0 Render date: 2024-11-25T22:11:05.544Z Has data issue: false hasContentIssue false
  • English
  • Français

Influence of backlash in gear reducer on dynamic of single-link manipulator arm

Published online by Cambridge University Press:  29 April 2014

Jian-Wei Lu ,
Xiao-Ming Sun ,
Alexander F. Vakakis  and
Lawrence A. Bergman
Jian-Wei Lu*
Affiliation:
School of Mechanical and Automotive Engineering, Hefei University of Technology, 230009 Hefei, Anhui, P. R. China
Xiao-Ming Sun
Affiliation:
School of Mechanical and Automotive Engineering, Hefei University of Technology, 230009 Hefei, Anhui, P. R. China
Alexander F. Vakakis
Affiliation:
Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana 61801, USA
Lawrence A. Bergman
Affiliation:
Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana 61801, USA
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

The dynamic modeling of a flexible single-link manipulator arm with consideration of backlash in the planetary gear reducer at the joint is presented, and the influence of backlash on the dynamic response of the system is evaluated. A 2K-H planetary gear reducer with backlash was employed as an example to discuss the dynamic modeling of the sub-model of the planetary gear reducer, and the sub-model of the planetary gear reducer was established based on the lumped mass method. The flexible manipulator was regarded as an Euler--Bernoulli beam, and the dynamic model of the flexible manipulator arm with backlash in the planetary gear reducer was determined from Lagrange's equations. Based on the this model, the influence of the backlash in the planetary gear reducer and excitation frequency on the dynamic response of the system were evaluated through simulation, and the results showed that the dynamic response of the system is sensitive to the backlash and the excitation frequency simultaneously, which provides a theoretical foundation for improvement of dynamic modeling and control of the flexible manipulator arm.

Keywords

BacklashFlexible manipulator armPlanetary gear reducerDynamic behavior
Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015 , pp. 1671 - 1685
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Santosha, K. D. and Peter, E., “Dynamic analysis of flexible manipulators, a literature review,” Mech. Mach. Theory 41 (7), 749–777 (2006).Google Scholar
2. Chen, W., “Dynamic modeling of multi-link flexible robotic manipulators,” Comput. Struct. 79 (2), 183–195 (2001).Google Scholar
3. Yen, H. M., Li, T. H. S. and Chang, Y. C., “Adaptive neural network based tracking control for electrically driven flexible-joint robots without velocity measurements,” Comput. Math. Appl. 64 (5), 1022–1032 (2012).Google Scholar
4. Di Castri, C. and Messina, A., “Exact modeling for control of flexible manipulators,” J. Vib. Control 18 (10), 1526–1551 (2012).Google Scholar
5. Abedi, E., Nadooshan, A. A. and Salehi, S., “Dynamic modeling of two flexible link manipulators,” World ACAD Sci. Eng. 46 (3), 461–467 (2008).Google Scholar
6. Mehrdad, F. and Stanislaw, A. L., “Dynamic modeling of spatial manipulators with flexible links and joints,” Comput. Struct. 75 (4), 419–437 (2000).Google Scholar
7. Albedoor, B. O. and Almusallam, A. A., “Dynamics of flexible-link and flexible-joint manipulator carrying a payload with rotary inertia,” Mech. Mach. Theory 35 (6), 785–820 (2000).Google Scholar
8. Subudhi, B. and Morris, A. S., “Dynamic modelling, simulation and control of a manipulator with flexible links and joints,” Robot. Auton. Syst. 41 (4), 257–220 (2002).Google Scholar
9. Green, A. and Sasiadek, J. Z., “Dynamics and trajectory tracking control of a two-link robot manipulator,” J. Vib. Control 10 (10), 1415–1440 (2004).Google Scholar
10. Fotouhi, R., “Dynamic analysis of very flexible beams,” J. Sound Vib. 35 (3), 521–533 (2007).Google Scholar
11. Vakil, M., Fotouhi, R. and Nikiforuk, P. N., “A constrained Lagrange formulation of multilink planar flexible manipulator,” J. Vib. Acoust. 130 (3), (2008). doi: 10.1115/1.2827455.Google Scholar
12. Kalyoncu, M., “Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint,” Appl. Math. Modelling 32 (6), 1087–1098 (2008).Google Scholar
13. Zhou, Z. L., Mechefske, C. K. and Xi, F. F., “Modeling of configuration-dependent flexible joints for a parallel robot,” Adv. Mech. Eng. (2010). doi: 10.1155/2010/143961.Google Scholar
14. Yesiloglu, S. M. and Temeltas, H., “Dynamical modeling of cooperating underactuated manipulators for space manipulation,” Adv. Robot. 24 (3), 325–341 (2010).Google Scholar
15. Rognant, M., Couteile, E. and Maurine, P.. “A systematic procedure for the elastodynamic modeling and identification of robot manipulators,” IEEE Trans. Robot. 26 (6), 1085–1093 (2010).Google Scholar
16. Korayem, M. H. and Heidari, H. R., “Modeling and testing of moving base manipulators with elastic joints,” Latin Am. Appl. Res. 41 (2), 157–163 (2011).Google Scholar
17. Chen, X. L., Deng, Y. and Jia, S. S., “Rigid-flexible coupled dynamics modeling and analysis for a novel high-speed spatial parallel robot,” Adv. Sci. Lett. 4 (8–10), 2595–2599 (2011).Google Scholar
18. Zarafshan, P. and Moonsavian, S. A. A., “Rigid–flexible interactive dynamics modelling approach,” Math. Comput. Modelling Dyn. Syst. 18 (2), 175–199 (2012).Google Scholar
19. Vakil, M., Fotouhi, R. and Nikiforuk, P. N., “A new method for dynamic modeling of flexible-link flexible-joint manipulators,” J. Vib. Acoust.-Trans. ASME 134 (1), (2012). doi: 10.1115/1.4004677.Google Scholar
20. Pratiher, B. and Bhowmick, S., “Nonlinear dynamic analysis of a Cartesian manipulator carrying an end effector placed at an intermediate position,” Nonlinear Dyn. 69 (1–2), 539–553 (2012).Google Scholar
21. Li, Q. Y., Numerical Analysis (Tsinghua University Press, Beijing, 2001).Google Scholar
22. Sun, T. and Shen, Y., “Study on nonlinear dynamic behavior of planetary gear train dynamic model and governing equations,” Chin. J Mech. Eng. 38 (3): 6–10 (2002).Google Scholar