A Comparative Study of Improved Dynamics of Single Link Flexible Revolute-Jointed Robotic Manipulator

Abstract

In this work, shape optimization is carried out of a single link flexible revolute flexible manipulator to extremize two objective functions (static tip deflection and fundamental frequency) using sequential quadratic programming (SQP) method. Robotic link is considered as an Euler-Bernoulli beam and finite element formulation is done. Newmark's scheme is used for its dynamic analysis. A comparative study of vibration suppression is carried out of uniform and shape optimized revolute robotic link under the excitation of sinusoidal/controlled torque.