NDLI: Experimental Verification of a Large Flexible Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Lee, Jae Won Huggins, James D. Book, Wayne J.
Copyright Year	1988
Description	Author affiliation: George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 (Lee, Jae Won; Huggins, James D.; Book, Wayne J.)
Abstract	A large experimental lightweight manipulator would be useful for material handling for welding or for ultrasonic inspection of a large structure such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. This paper presents a verfication of the modeling using the assumed mode method. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator are also verified.
Starting Page	1021
Ending Page	1028
File Size	528163
Page Count	8
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Shape measurement Materials handling Welding Inspection Singular value decomposition Jacobian matrices Eigenvalues and eigenfunctions Frequency measurement Time factors Hydraulic actuators
Content Type	Text
Resource Type	Article

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