Theoretical Study of Viscoelastic Robotic Manipulators using Kelvin-Voigt Structural Damping Model
Publish Year: 1395
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
MECHCONF01_116
تاریخ نمایه سازی: 21 شهریور 1395
Abstract:
This research presents the development of dynamic modeling of viscoelastic robotic manipulators by the use of Gibbs-Appell formulation and the assumed mode approach. Elastic characteristics of the links are modeled according to the Timoshenko beam theory. Also the effects of the motors at the joints are considered. In the mathematical modeling, torsion, extensional elongation, bending in two directions, structural damping, viscous air effects as well as the effects of gravity have also been inserted into the formulations.
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Authors
A. M. Shafeie
Department of Mechanical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran
E. Seidi
Department of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
H. R. Shafei
Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran