Dynamic analysis of planar manipulators with linearly tapered beams

In this thesis, two-link planar robot manipulator configurations with linearly tapered beams are considered. The manipulators have flexible joints and flexible links. The dynamic modeling of the studied manipulators for modal and transient analyses are done with MatLAB codes using the finite element theory. Also, experimental results are presented for the studied different manipulator systems. In the studies, the end point vibration signals are simulated by developing a MatLAB code based on the finite element theory and Newmark numerical integration. The mass and stiffness matrices are time dependent because the angular positions of the links change during the motion. Trapezoidal velocity profiles for the actuating motors are used. The time dependent inertia forces are calculated by using the rigid body dynamics. Residual vibrations that occur after the robot arms stop are minimized by setting of deceleration time values in the trapezoidal velocity profile as proposed. The root mean square (rms) acceleration values of the vibration signals after stopping are calculated. Many starting and stopping positions are examined. It is observed that simulation and experimental results are in good agreement. It is shown that by setting of the deceleration time as proposed, the residual vibration of a two-link manipulator with linearly tapered beams can be controlled.