Abstract
In this paper a general formula for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the proposed algorithm are the actuator torque capacity and the limited error bound for the end-effector during motion on a given trajectory. The accuracy constraint is taken into account with two boundary lines which are equally offset due to the given end-effector trajectory, while a speed-torque characteristics curve of a typical DC motor, is used for applying the actuator torque constraint. Finite element method (FEM), which is able to consider the full nonlinear dynamic of mobile manipulator is applied to derive the kinematic and dynamic equations. In order to verify the effectiveness of the presented algorithm, two simulation studies considering a flexible two-link planar manipulator mounted on a mobile base are presented and the results are discussed.
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Korayem, M.H., Heidari, A. & Nikoobin, A. Maximum allowable dynamic load of flexible mobile manipulators using finite element approach. Int J Adv Manuf Technol 36, 606–617 (2008). https://doi.org/10.1007/s00170-006-0863-1
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DOI: https://doi.org/10.1007/s00170-006-0863-1