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Floating Frame of Reference and Absolute Nodal Coordinate Formulations in the Large Deformation Analysis of Robotic Manipulators: A Comparative Experimental and Numerical Study

[+] Author Affiliations
Ayman A. Nada

Benha University, Benha, Egypt

Bassam A. Hussein, Ahmed A. Shabana

University of Illinois at Chicago, Chicago, IL

Said M. Megahed

Cairo University, Giza, Egypt

Paper No. DETC2009-86675, pp. 889-900; 12 pages
  • ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C
  • San Diego, California, USA, August 30–September 2, 2009
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4901-9 | eISBN: 978-0-7918-3856-3
  • Copyright © 2009 by ASME


This paper describes the use of flexible multibody system approaches in the dynamic modeling of interconnected rigid-elastic robotic manipulators. Two approaches are used to establish the flexible robot dynamic model; the floating frame of reference formulation (FFR) and the absolute nodal coordinate formulation (ANCF). The ANCF is used with two different methods for formulating the elastic forces; basic continuum mechanics approach (ANCF-BC) and elastic line method (ANCF-EL). The simulation results show that the use of the nonlinear FFR and the ANCF-EL improves the performance of the beam element in the modeling of flexible robotic manipulators. In the case of simple large deformation shape, the simulation results obtained show a good agreement between the FFR and the ANCF solutions. In the case of thin and stiff beams, the coupled deformation modes that result from the use of the ANCF-BC can be a source of numerical problems. These problems can be avoided using the implicit Hilber-Hughes-Taylor (HHT) integration method. On the other hand, HHT integrator does not capture high frequency axial modes when the FFR is used; RADAU5 method is used instead. The experimental results of the direct dynamics model are effectively used in this study to validate the numerical solutions.

Copyright © 2009 by ASME



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