Dynamic Analysis of Flexible two Link Robotic Arm Considering Joint Stiffness

Abstract

The robotic manipulator is a machine that can perform a variety of tasks according to specifications without the need of human interference. In order to model and control such devices, vibration analysis of flexible manipulators has become a critical field of study. The finite element approach has been used to analyze single and double connection flexible manipulators made of advanced composite material in the current study. For the modelling and study of the versatile composite manipulators, a three-noded beam feature is used. The effects of the taper angles of tapered flexible composite manipulators on the final product effector movement and vibration has been considered. In present work CATIA V5 is used to model the flexible single link robotic arm and static structural analysis to find stress and total deformation, dynamic analysis is carried out to find different modes, corresponding frequency, and life estimation of flexible single and double link robotic arm and also material optimization is done using different material composition for structural steel, aluminium and CFRP composite material using ANSYS WORKBENCH 18.2 (Finite Element Approach) for life estimation and evaluation using analytical approach.