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Flexible Multibody Modeling for Structural Flexibility Analysis of a Robotic Manipulator

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Advances in Italian Mechanism Science (IFToMM ITALY 2020)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 91))

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Abstract

A recent trend in robotics is the development of lightweight manipulators. Safety, power consumption, and productivity can significantly benefit of weight reductions. However, a lightweight design can significantly affect stiffness and accuracy performance. Accordingly, this paper investigates the effect of joint and link flexibility for an in-depth understanding of their contributions towards an optimal trade-off design of lightweight manipulators. The proposed work is based on using Flexible Multibody (FMB) simulations. The structural flexibility of a whole manipulator is evaluated by calculating a set of Frequency Response Functions (FRF) at different robot poses. Namely, a simplified model of an anthropomorphic robot is simulated within a multibody simulation environment. The results of the multibody simulations are analyzed and compared with finite element analyses. Results are discussed for two specific robot configurations.

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Acknowledgements

The research was partially funded by the European Commission, with the support of the European social fund (ESF) and the European regional development fund (ERDF), and the Ministry of Education, University, and Research (MIUR), through the National Operational Program for Research and Innovation, PON R&I 2014–2020, Action I.2 Attraction and International Mobility, AIM1857122.

This research was partially funded by POR Calabria 2014–2020 (Programma Operativo Regionale Calabria FESR-FSE 2014–2020, Asse 12 “Istruzione e formazione”, Azione 10.5.6 e Azione 10.5.12).

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Correspondence to Cristian Enrico Capalbo .

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Capalbo, C.E., Carbone, G., Cosco, F., Galloro, A., Mundo, D. (2021). Flexible Multibody Modeling for Structural Flexibility Analysis of a Robotic Manipulator. In: Niola, V., Gasparetto, A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science, vol 91. Springer, Cham. https://doi.org/10.1007/978-3-030-55807-9_23

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