In this work a general procedure to derive a nonlinear dynamic model for a three-link revolute flexible robot arm constructed from laminated fiber-reinforced composite materials is presented. The effects of geometric nonlinearity as well as rotary inertia and shear deformation are included to study the dynamic response of robotic manipulators made of moderately thick beams under large deformations. Hamilton’s principle is used to derive the equations of motion. A displacement finite element model based on the Timoshenko beam theory is implemented to approximate the solution. The digital simulation studies examine the combined effects of geometric nonlinearity, rotary inertia, and shear deformation on the arm’s end effector displacements. Furthermore, the effects of angle of fiber orientation and material orthotropy on the end-of-the-arm displacements and maximum normal bending stresses, are assessed.
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March 1992
Research Papers
Nonlinear Deformation of a Shear-Deformable Laminated Composite-Material Flexible Robot Arm
F. Gordaninejad,
F. Gordaninejad
Mechanical Engrg. Dept., University of Nevada, Reno, Reno, NV 89557
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N. G. Chalhoub,
N. G. Chalhoub
Mechanical Engrg. Dept., Wayne State University, Detroit, MI 48202
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A. Ghazavi,
A. Ghazavi
School of Medicine, University of Nevada, Reno, Reno, NV 89557
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Q. Lin
Q. Lin
Millennium Computer Co., Sparks, NV 89431
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F. Gordaninejad
Mechanical Engrg. Dept., University of Nevada, Reno, Reno, NV 89557
N. G. Chalhoub
Mechanical Engrg. Dept., Wayne State University, Detroit, MI 48202
A. Ghazavi
School of Medicine, University of Nevada, Reno, Reno, NV 89557
Q. Lin
Millennium Computer Co., Sparks, NV 89431
J. Mech. Des. Mar 1992, 114(1): 96-102 (7 pages)
Published Online: March 1, 1992
Article history
Received:
March 1, 1991
Online:
June 2, 2008
Citation
Gordaninejad, F., Chalhoub, N. G., Ghazavi, A., and Lin, Q. (March 1, 1992). "Nonlinear Deformation of a Shear-Deformable Laminated Composite-Material Flexible Robot Arm." ASME. J. Mech. Des. March 1992; 114(1): 96–102. https://doi.org/10.1115/1.2916932
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