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On the Design and Vibration Analysis of a Three-Link Flexible Robot Interfaced with a Mini-Gripper

  • Prathamesh Warude
  • Manoj Patel
  • Pankaj Pandit
  • Vikram Patil
  • Harshal Pawar
  • Chinmay Nate
  • Shreyash Gajlekar
  • Viinod Atpadkar
  • Debanik RoyEmail author
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

Flexible Robotic System (FRS) having multiple degrees of freedom has various challenging issues related to real-time control of inherent vibration. The paper addresses novel design semantics as well as vibration analysis of three degrees of freedom flexible robotic arm, fitted with a mini-gripper at its distal link. In this study, the design of a flexible robotic arm has been carried out along with the finite element analysis of the links and revolute joints a priori. Besides successful laboratory-based test hardware of the FRS, the paper focuses on new insight toward modeling of this inherent vibration of the FRS and brings out its effect on the associated dynamics of the FRS.

Keywords

Flexible robot Vibration Rheology Sensor Gripper 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Rajarambapu Institute of TechnologyUran IslampurIndia
  2. 2.SVR InfotechPuneIndia
  3. 3.Division of Remote Handling & Robotics, Department of Atomic EnergyBhabha Atomic Research Centre & Homi Bhabha National InstituteMumbaiIndia

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