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ㆍProduct: Elephant trunk robot manipulator
ㆍPurpose of Analysis: Optimization of the design of a flexible elephant trunk robot manipulator arm
An elephant trunk robot manipulator, an arm that mimics the behavior of an infinite degree of freedom elephant’s trunk, was being developed. This robot manipulator is a set of disks attached at their centers to a flexible shaft, controlled by a set of cables that pass through the disks. The ends of the cables are attached directly to a motor. The arm has continuous motion and can be tailored for specific applications, for example, to access hazardous areas.
To optimize the design of this flexible robotic arm, several parameters need to be investigated: tension in cable, force at the end of cable with respect to time, required force to actuate the mechanism, work volume of the robot.
Process
① Created the flexible elephant trunk robot manipulator that consists of trunk shaped body made up of circular discs, cables, a base, and a flexible shaft.
② Mathematically modeled the actuators and DC motor mounted at the base of the trunk using user-defined motion.
③ Investigated the range of motion that the robot manipulator can reach inside a working area.
④ Calculated and compared the strength of the cables during manipulation with different materials (Nylon, Teflon).
⑤ Calculated the loads experienced by the cables during operation.
⑥ Calculated the frictional loads experienced by the cable in contact with disc during operation.
Key Technologies for Analysis
• Multibody dynamics that is specialized for mechanical modeling of many components: many discs, cables, base, shafts, and DC motor
• MFBD (FFlex) technology to represent the large deformation of the cables and predict their strength
• Contact, including friction, between flexible cables and rigid circular discs
Toolkits
• RecurDyn/Professional
• RecurDyn/FFlex
Customer Challenges
• Transient dynamic analysis is required to predict the motion of the manipulator.
• Cables experience nonlinear large deformation and frictional contact.
• Different cable materials, such as nylon or teflon, can affect the motion of the manipulator.
• The work volume of the robot manipulator must be identified.
Solutions
• Modeling and dynamic simulation of the robot manipulator consists of many components using professional multibody dynamics software.
• Flexible multibody dynamics is necessary to calculate the behavior of the cable motion with large deformation.
• The trajectory of the robot manipulator could be examined through highly precise visualization and quantitative evaluation.
• A contact algorithm including friction between rigid bodies and flexible bodies.
Outcomes
• MFBD model accurately reproduced the dynamic behavior of the elephant trunk robot manipulator.
• MFBD model was used for optimization so that the maximum range of motion inside its work area could be reached.
• Accurate loads experienced by the cables were calculated.
• Appropriate motors and actuators could be selected.
Other Applications
◀ A manufacturing robot arm simulation using RecurDyn
ㆍYou can see the vibration of the arm due to the flexibility of a part of the robot arm.
◀ A manufacturing robot arm simulation using RecurDyn
ㆍYou can see the vibration of the arm due to the flexibility of a part of the robot arm.
