Dynamic Stress Analysis of Variable Geometry Telescopic Multi-Link Flexible Robotic Systems During Their Reconfiguration

Paper number

IAC-05-C1.4.08

Author

Prof. Pavel M. Trivailo, RMIT University, Australia, Australia

Coauthor

Prof. Ludmilla Plotnikova, Royal Melbourne Institute of Technology (RMIT), Australia

Coauthor

Dr. Trenton Gilbert, Australia

Coauthor

Dr. Paul Williams, Australia

Year

2005

Abstract

This paper presents a non-linear mathematical model, its implementation, simulation, motion and stress analysis of telescopic flexible multi-link robotic manipulators undergoing large rigid body translations and rotations and experiencing deformations due to their inherent elasticity. A typical robotic system possess capability to vary its geometry and boundary conditions during operation, allowing the system to perform a variety of complex manoeuvres, for example, transfer from one location to another or its decomposition into separate independent systems.

The manipulator has been represented as a series of beams with variable length and properties, joined by non-permanent hinges, enabling controllable disconnection. The joints at free ends can also connect to predefined docking locations or to other components of the system, in order to either form manipulators of various configurations, or to effectively move the manipulator from one location to another.

A non-linear, co-rotational finite element method has been used to model the robotic manipulator, as it performs manoeuvres that would be required of such a reconfigurable system. This co-rotational formulation employed various sets of coordinate systems to describe this complex motion. A global set of axes was used to describe the rigid body motions, and a co-rotational axis, which actually moves with each body, was used to account for elastic deformations due to the systems flexibility.

The paper presents detailed examination of the positions and deflections of the manipulator, transient strain and stresses within the entire system throughout these reconfiguration manoeuvres and payload captures. 

Abstract document

IAC-05-C1.4.08.pdf

Manuscript document

IAC-05-C1.4.08.pdf (🔒 authorized access only).

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