On the Design and Vibration Analysis of a Three-Link Flexible Robot Interfaced with a Mini-Gripper

摘要

Flexible Robotic System (FRS) having multiple degrees of freedom has various challenging issues related to real-time control of inherent vibration. The paper addresses novel design semantics as well as vibration analysis of three degrees of freedom flexible robotic arm, fitted with a mini-gripper at its distal link. In this study, the design of a flexible robotic arm has been carried out along with the finite element analysis of the links and revolute joints a priori. Besides successful laboratory-based test hardware of the FRS, the paper focuses on new insight toward modeling of this inherent vibration of the FRS and brings out its effect on the associated dynamics of the FRS.