Experimental verification of a large flexible manipulatorA 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. A verification of the modeling using the assumed mode method is presented. 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 is verified.
Document ID
19880067307
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lee, Jac Won (Georgia Inst. of Tech. Atlanta, GA, United States)
Huggins, James D. (Georgia Inst. of Tech. Atlanta, GA, United States)
Book, Wayne J. (Georgia Institute of Technology Atlanta, United States)