The dynamic response of a flexible three-link robot using strain gages, Lagrange polynomials, Fourier series, and the finite element analysis

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.).

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Civil and Environmental Engineering

Grantor dc:publisher

University of Nevada, Las Vegas

Year

1989

Author dc:creator

• Marceau, Robert Frank

Statement dc:rights

• IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Language dc:language

English

Identifier

https://oasis.library.unlv.edu/rtds/67

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-1066