Computer-aided kinematic and dynamic analyses of flexible spatial manipulators of arbitrary architecture

Jain, Jinesh (1988) Computer-aided kinematic and dynamic analyses of flexible spatial manipulators of arbitrary architecture. Masters thesis, Memorial University of Newfoundland.

[English] PDF (Migrated (PDF/A Conversion) from original format: (application/pdf)) - Accepted Version Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. Download (29MB) [English] PDF - Accepted Version Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. (Original Version)

Abstract

The research work involves the kinematic and dynamic analyses of flexible manipulators of (a) known architecture, (b) arbitrary architecture, and (c) redundant manipulators. The analyses also include the solution of constrained problems. In order to increase the computational efficiencies various efficient numerical schemes have also been studied for solving the dynamic problems. -- The constrained displacement analysis of these manipulator has been carried out by successive linear approximation principle where linear and non linear constraints can be handled. The constrained velocity and acceleration analyses have been carried out using quadratic programming principle and simplex method. -- In the dynamic analysis, the equations of motion have been obtained using the finite element method. The global system matrices are function of end-effector position and the force vector is a function of kinematic parameters. The dynamic equations are solved using four efficient numerical techniques. The methods of solving the constrained dynamic equations are the Karmarkar's algorithm and the simplex method. To reduce the size of the system matrices, the Guyan reduction technique and component mode synthesis have been used.

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