COBEM99

S5 Controle Ativo de Vibrações e Estruturas Inteligentes

Title:

SIGNAL ANALYSIS IN MANIPULATORS WITH FLEXIBLE MEMBERS

Summary :

THIS PAPER DEALS WITH SIGNAL ANALYSIS OF THE DYNAMICS OF A ROBOTIC STRUCTURE WITH FLEXIBLE MEMBERS. THE MECHANICAL STRUCTURE IS COMPOSED OF FLEXIBLE LINKS, WHERE EACH ONE IS COMPOSED OF SEVERAL RIGID SEGMENTS CONNECTED THROUGH ROTATIONAL JOINTS. THE INVERSE DYNAMICS IS ELABORATED BEING USED A NEWTON-EULER RECURSIVE NUMERIC FORMULATION SIMILAR TO RIGID SYSTEMS WITH THE ADEQUATE MANIPULATION OF THE INPUT VECTORS, IT IS POSSIBLE TO OBTAIN THE MASS MATRIX AND THE VECTORS THAT CONSIDER THE GRAVITATIONAL, CORIOLIS AND CENTRIPETAL EFFECTS. THE DIRECT DYNAMIC SYSTEM OF THE STRUCTURE IS OBTAINED WITH AN ADAPTED NUMBER OF DEGREES OF FREEDOM NGL. IT IS IMPOSED IN THE AXIS OF THE ACTIVE SEGMENT OF A MEMBER A DISTURBING BINARY WITH SENOIDAL EXCITATION. USING THE DIRECT DYNAMICS IT’S POSSIBLE TO SIMULATE THE BEHAVIOR OF THE STRUCTURE. IT IS OBTAINED THE TEMPORARY RESPONSE OF THE DISPLACEMENT, VELOCITY AND ACCELERATION OF ALL JOINTS. THROUGH MATLAB SOFTWARE THE DATA ARE TREATED TO ANALYSE THE RESPONSE FUNCTIONS IN THE TIME AND IN FREQUENCY. SOME SIMULATION RESULTS ARE PRESENTED. KEYWORDS: ROBOTICS, FLEXIBLE MANIPULATORS, DYNAMIC SIMULATION, SIGNAL ANALYSIS

Author :

Machado, José António T.
Martins, José Luiz F.

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