Modeling of the UNLV-Aro light-weight robot using Lagrange's assumed mode method, symbolic manipulation, and numerical simulation

This thesis modeled the dynamics of the UNLV-ARO serially connected light-weight robot. The two outer-most links of the robot exhibited flexible behavior in the in-plane and the out-of-plane directions. Lagrangian mechanics were used to model this system. Assumed modes method was used to approximate the vibration mode shape of the links. Using these analytical techniques in conjunction with the inverse dynamics method, a set of equations of motion was formulated to describe the vibrations of the robot. Due to the complexity of the system, the equations of motion were derived using MACSYMA, a symbolic software. From MACSYMA, the equations of motion were translated into FORTRAN statements. FORTRAN programs were written using the equations obtained to numerically simulate the motions of the robot. The scheme discussed in this thesis provided a step towards modeling the dynamics of a light-weight robot accurately.

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor dc:publisher

University of Nevada, Las Vegas

Year

1991

Author dc:creator

• Lam, Edward Yuk-Kam

Contributors dc:contributor

• Mohamed B. E. Trabia

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/135

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-1134