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| Content Provider | Springer Nature Link |
|---|---|
| Author | Lee, Taeyeop Choi, Jonghyeon Rhim, Sungsoo |
| Copyright Year | 2015 |
| Abstract | The coupled three-link planar manipulator mechanism is widely adopted in panel handling robots for the realization of straight-line translational motion of the end-effector with a single actuator and three belt-drive systems. This research analyzes and models the complex dynamics of the coupled three-link planar manipulator including the flexible belt systems. Equations of the motion of the manipulator are derived mathematically by using Lagrange method and the coupling constraints between the links are modeled and appropriately represented in the mathematical model. Also, joint friction is modeled with static, Coulomb and viscous models. Using the mathematical model a numerical simulation program is developed. The system parameters, including joint friction and belt damping, for the highly nonlinear model are estimated using the genetic algorithm that is one of the global optimization techniques. The validity of the simulation model is verified by comparing the simulation results with the experimental results. |
| Starting Page | 981 |
| Ending Page | 988 |
| Page Count | 8 |
| File Format | |
| ISSN | 1738494X |
| Journal | Journal of Mechanical Science and Technology |
| Volume Number | 29 |
| Issue Number | 3 |
| e-ISSN | 19763824 |
| Language | English |
| Publisher | Korean Society of Mechanical Engineers |
| Publisher Date | 2015-03-15 |
| Publisher Place | Heidelberg |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Coupled planar manipulator Flexible-joint Flexible belt-drive Genetic algorithm Parameter estimation Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Mechanics of Materials Mechanical Engineering |
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