DYNAMICS OF A FLEXIBLE ROBOTIC HANDLER / DINÂMICA DE UM MANIPULADOR ROBÓTICO FLEXÍVEL

ROBERTO RIQUELME SEPULDEVA

The formulation of a manipulator robot is presented as a rotating beam which is clamped in a fixed shaft and hás a stiff parto f variable length and a flexible part with na applied load at the free end. The motion is decomposed in two parts: a global rigid motion and another one due to beam deformations around a variable configuration. Looking forward to controlling the structure, the model is simplified with the assumption that the flexible part of beam suffers only small deformations with respect to a moving reference frame. The main contribution of this thesis consists in the development of a symbolic-numerical code. The dynamics formualtion obtained through the Lagrangean and generalized forces in computed symbolically. The equations are written in discrete form in PI2 using the finite element method and the mass steffness, damping and generalized forces matrices are symbolically constructed by element and then assembled, the whole process being automatic.

DYNAMICS OF A FLEXIBLE ROBOTIC HANDLER / DINÂMICA DE UM MANIPULADOR ROBÓTICO FLEXÍVEL

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