Effect of flexible payload upon the coupled dynamic response of robotics fixtureless assembly cell

摘要

In this paper, we present a newly developed model which describes the coupled dynamic response of two cooperating robots handling two flexible payloads for the purpose of fixtureless assembly and manufacturing. The equations describing the dynamics of the system were obtained using a hybrid method. First, Lagrange's equations were developed for the assumed rigid manipulators and second, the finite element method was used to describe the dynamic response of the flexible payloads subject to specific kinematic contact constraints. The resulting system of equations was solved using an explicit-implicit algorithm which was later used to examine the dynamic response of two industrial robots manipulating flexible payloads.