The purpose of this study is to predict the dynamic response of a spatial 3R manipulator with flexible links and joints with damping.
An analytical method based on Lagrangian formulation is used to derive the equations of motion and thereafter the finite element based formulation is developed. Then the mechanical performance of the manipulator based on the residual vibration of the end effector is predicted for commanded joint motion profiles. It is assumed that the joint flexibility and damping effect exist only at the reduction gears, which are prevalent to industrial robots.
Analyses are performed for two cases : One case is when the joint has only one stiffness and the other case is when the joint has several stiffnesses due to backlash in the reduction gears. From the analyses, Coriolis effect, Residual vibrations and the validity of the constant stiffness model of the joint are discussed.
