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A novel mathematical approach for finite element formulation of flexible robot dynamics

A novel mathematical approach for finite element formulation of flexible robot dynamics

Chu, Anh My, Nguyen, C.D., Duong, Xuan Bien, Nguyen, A.V., Nguyen, Tien Anh, Le, Chi Hieu ORCID: 0000-0002-5168-2297 and Packianather, Michael (2020) A novel mathematical approach for finite element formulation of flexible robot dynamics. Mechanics Based Design of Structures and Machines, An International Journal. ISSN 1539-7734 (Print), 1539-7742 (Online) (In Press) (doi:https://doi.org/10.1080/15397734.2020.1820874)

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Abstract

In conventional Finite Element – Lagrangian methods, the dynamics model of a flexible robot is usually formulated based on a critical assumption that the kinetic energy of an element is approximately calculated with an integral of mass point energy. Since the energy integral is implicit, the formulation of the dynamics model is also very complex and implicit. Hence, this paper develops a new mathematical approach for the dynamic modelling of a general flexible/rigid robot. The proposed method is more comprehensive and efficient in comparison with the previous ones because it no longer requires the calculation of the symbolic integrals and the implicit expressions of the elemental and global mass matrices. Besides, the proposed approach is applicable for both the flexible robots and the hybrid flexible/rigid robots. To validate the proposed method, numerical simulations and experimental results are presented.

Item Type: Article
Uncontrolled Keywords: flexible robots, flexible/rigid robots, kinematics of machines, dynamics of machines, finite elements method
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Faculty / School / Research Centre / Research Group: Faculty of Engineering & Science
Faculty of Engineering & Science > Design, Manufacturing and Innovative Products Research Theme
Faculty of Engineering & Science > School of Engineering (ENN)
Last Modified: 18 Sep 2021 01:38
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
Selected for REF2021: REF 5
URI: http://gala.gre.ac.uk/id/eprint/29413

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