Title:
Experimental Verification of a Large Flexible Manipulator
Experimental Verification of a Large Flexible Manipulator
Authors
Lee, Jae Won
Huggins, James D.
Huggins, James D.
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Abstract
A large experimental lightweight manipulator would be useful for
material handling, for welding, or for ultrasonic inspection of a large
structure such as an airframe. The flexible parallel link mechanism
is designed for high rigidity without increasing weight. This
constrained system is analyzed by singular value decomposition of
the constraint Jacobian matrix. This paper presents a verification of
the modeling using the assumed mode method. Eigenvalues and
eigenvectors of the linearized model are compared to the measured
system natural frequencies and their associated mode shapes. The
modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator are also verified.
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Date Issued
1988-06
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Proceedings