Open AccessOn the elastodynamics of a five-axis lightweight anthropomorphic robotic arm
Author(s) -
Guanglei Wu
Publication year - 2021
Publication title -
intelligence and robotics
Language(s) - English
Resource type - Journals
ISSN - 2770-3541
DOI - 10.20517/ir.2021.11
Subject(s) - payload (computing) , workspace , robotics , displacement (psychology) , robotic arm , stiffness , sensitivity (control systems) , serial manipulator , robot , natural frequency , rotation (mathematics) , computer science , acoustics , artificial intelligence , engineering , structural engineering , control theory (sociology) , physics , vibration , parallel manipulator , psychology , computer network , control (management) , electronic engineering , network packet , psychotherapist
This paper presents elastodynamic modeling and analysis for a five-axis lightweight robotic arm. Natural frequencies are derived and visualized within the dexterous workspace to show the overall performances and compare them to the frequencies when the robotics is with payload. The comparison shows that the payload has a relatively small influence to the first- and second-order frequencies. Sensitivity analysis is conducted, and the system's frequency is more sensitive to the second joint stiffness than the others. Moreover, observations from the displacement response analysis reveal that the robotics produces linear elastic displacements of the same level between the loaded and unloaded working modes but larger rotational deflections under the loaded working condition. The main contribution of this work lies in that a systematic approach of elastodynamic analysis for serial robotic manipulators is formulated, where the arm gravity and external load are taken into account to investigate the dynamic behaviors of the robotic arms, i.e., frequencies, sensitivity analysis, and displacement responses, under the loaded mode.