Analysis of Dynamic Stress and Fatigue Property of Flexible Robots

The analysis of fatigue property was incorporated into the research on dynamic stress of flexible robots. The relation between elastic deformations and elastic displacements of the flexible planar robot was investigated. The elastic deformations of links were calculated. The dynamic stress on any po...

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Bibliographic Details
Published in2006 IEEE International Conference on Robotics and Biomimetics pp. 1351 - 1355
Main Authors Du Zhao-cai, Yu Yue-qing, Su Li-ying
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2006
Subjects
dynamic stress
Educational institutions
Failure analysis
Fatigue
fatigue property
flexible robots
Humanoid robots
Mechanical engineering
Mechanical factors
Medical robotics
Robot control
Robot sensing systems
Stress control
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Summary:The analysis of fatigue property was incorporated into the research on dynamic stress of flexible robots. The relation between elastic deformations and elastic displacements of the flexible planar robot was investigated. The elastic deformations of links were calculated. The dynamic stress on any position of the links was derived. The fatigue failure due to the alternate dynamic stresses was analysed. The fatigue lives of the links were predicted based on the cumulative damage rule. The importance of dynamic stress analysis was well illustrated through the numerical simulation of a flexible planar 3-RRR parallel robot. The dynamic stress analysis is demonstrated to have significant impact on the design and control of flexible robots.
ISBN:9781424405701
142440570X
DOI:10.1109/ROBIO.2006.340125