A Study of Single-Link Robots Fabricated from Orthotropic Composite Materials

Abstract

A dynamic model for single-link robotic arms fabricated from orthotropic composite materials is presented. The equations of motion are derived using Hamilton's principle and include the coupling between the rigid body motion and elastic motion. An optimal controller is designed for rest-to-rest maneuvers without large starting or stopping transients and with minimum residual vibration. Computer simulated results presented for aluminum, steel, graphite/epoxy, and boron/epoxy indicate that the motion-induced vibration is significantly less for the composite robotic arms as well as substantial savings in energy. Furthermore, it is seen that the magnitude of the control spillover effects, an issue of great concern in designing control systems for flexible structures, is very small for the composite robotic arms.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Composite Materials; Computer Simulation; Control, Mechanical Variables; Equations of Motion; Hamilton's Principle; Orthotropic Composite Materials; Single Link Robots; Robots, Industrial

International Standard Serial Number (ISSN)

0045-7949

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1990 Elsevier, All rights reserved.

Publication Date

01 Jan 1990

Link to Full Text

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