{"id":{"repo_id":"unlv","oai_identifier":"oai:oasis.library.unlv.edu:rtds-1066"},"canonical_url":"https://search.dev.ndltd.org/etd/unlv/oai:oasis.library.unlv.edu:rtds-1066","repository":{"repo_id":"unlv","name":"University of Nevada - Las Vegas","base_url":"https://oasis.library.unlv.edu/do/oai/"},"display":{"title":"The dynamic response of a flexible three-link robot using strain gages, Lagrange polynomials, Fourier series, and the finite element analysis","abstract":"This thesis presents theoretical and experimental methods for determining the static and dynamic response, in three dimensional space, of a flexible three-link robotic manipulator. The Links are designed to deform elastically under static and dynamic loads. Lagrange polynomials are derived to determine the defected shape of the robotic links. All coefficients of the Lagrange polynomials are functions of the elastic strain at three specific locations on each link. Strains are converted to voltage differentials and are read into a micro-computer through an A-to-D board system, where they are converted to digital strain values. Coefficients defining the damped response of the robot are determined experimentally. The dynamic response of the robotic manipulator is also studied using the finite element method. Given the readings of the angular encoders, a FORTRAN code is presented that prepares complete source files for the robot. (Abstract shortened with permission of author.).","abstract_html":"This thesis presents theoretical and experimental methods for determining the static and dynamic response, in three dimensional space, of a flexible three-link robotic manipulator. The Links are designed to deform elastically under static and dynamic loads. Lagrange polynomials are derived to determine the defected shape of the robotic links. All coefficients of the Lagrange polynomials are functions of the elastic strain at three specific locations on each link. Strains are converted to voltage differentials and are read into a micro-computer through an A-to-D board system, where they are converted to digital strain values. Coefficients defining the damped response of the robot are determined experimentally. The dynamic response of the robotic manipulator is also studied using the finite element method. Given the readings of the angular encoders, a FORTRAN code is presented that prepares complete source files for the robot. (Abstract shortened with permission of author.).","abstract_has_math":false,"creators":["Marceau, Robert Frank"],"institution":"University of Nevada, Las Vegas","degree_name":"Master of Science (MS)","degree_level":"Thesis","degree_discipline":"Civil and Environmental Engineering","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1989,"date_issued":"1989-01-01T08:00:00Z","date_published":"1989-01-01T08:00:00Z","updated_at":"2026-07-24T05:24:07Z","subjects":[],"languages":["English"],"rights":["IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/"],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["https://oasis.library.unlv.edu/rtds/67"],"render_values":[{"text":"https://oasis.library.unlv.edu/rtds/67","href":"https://oasis.library.unlv.edu/rtds/67","code":true}]}]},"links":{"outbound_url":"https://doi.org/10.25669/rtko-65ep","outbound_label":"DOI","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Marceau, Robert Frank"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:publisher","label":"Institution","values":["University of Nevada, Las Vegas"]},{"key":"dc:type","label":"Dc Type","values":["Text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Civil and Environmental Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science (MS)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["English"]},{"key":"dc:rights","label":"Dc Rights","values":["IN COPYRIGHT. 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Strains are converted to voltage differentials and are read into a micro-computer through an A-to-D board system, where they are converted to digital strain values. Coefficients defining the damped response of the robot are determined experimentally. The dynamic response of the robotic manipulator is also studied using the finite element method. Given the readings of the angular encoders, a FORTRAN code is presented that prepares complete source files for the robot. (Abstract shortened with permission of author.)."]},{"key":"dc:format","label":"Dc Format","values":["pdf"]},{"key":"dc:title","label":"Title","values":["The dynamic response of a flexible three-link robot using strain gages, Lagrange polynomials, Fourier series, and the finite element analysis"]}]}],"canonical_facts":{"dc:creator":["Marceau, Robert Frank"],"dc:description.abstract":["This thesis presents theoretical and experimental methods for determining the static and dynamic response, in three dimensional space, of a flexible three-link robotic manipulator. The Links are designed to deform elastically under static and dynamic loads. Lagrange polynomials are derived to determine the defected shape of the robotic links. All coefficients of the Lagrange polynomials are functions of the elastic strain at three specific locations on each link. Strains are converted to voltage differentials and are read into a micro-computer through an A-to-D board system, where they are converted to digital strain values. Coefficients defining the damped response of the robot are determined experimentally. The dynamic response of the robotic manipulator is also studied using the finite element method. Given the readings of the angular encoders, a FORTRAN code is presented that prepares complete source files for the robot. (Abstract shortened with permission of author.)."],"dc:format":["pdf"],"dc:identifier":["10.25669/rtko-65ep","https://oasis.library.unlv.edu/rtds/67","https://oasis.library.unlv.edu/context/rtds/article/1066/viewcontent/uc.pdf"],"dc:language":["English"],"dc:publisher":["University of Nevada, Las Vegas"],"dc:rights":["IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/"],"dc:title":["The dynamic response of a flexible three-link robot using strain gages, Lagrange polynomials, Fourier series, and the finite element analysis"],"dc:type":["Text"],"thesis:degree_discipline":["Civil and Environmental Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["Master of Science (MS)"]},"updated_at":"2026-07-24T05:24:07Z"}