Kineto-elastodynamic vibration analysis of robot manipulators by the finite element method

Abstract The vibration problem has become one of the most important considerations in the design of modem industrial manipulators and robot mechanical linkages within the last few years. To make the endpoint position of the manipulator achieve a higher degree of accuracy and follow more closely the desired output, it is necessary to develop a more comprehensive simulation for the study of the dynamic characteristics of mechanical linkage systems. In this paper a systematic finite element method using a Timoshenko beam model is used to study both the axial and lateral vibrations of a manipulator linkage system. Results for quasi-static and kineto-elastodynamic analyses are compared.

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