0
Research Papers

Tracking Accuracy Analysis of a Planar Flexible Manipulator With Lubricated Joint and Interval Uncertainty

[+] Author and Article Information
Dongyang Sun

College of Aerospace Engineering,
Chongqing University,
Chongqing 400044, China
e-mail: dongyangsunnuaa@gmail.com

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received January 27, 2016; final manuscript received May 5, 2016; published online June 2, 2016. Assoc. Editor: Zdravko Terze.

J. Comput. Nonlinear Dynam 11(5), 051024 (Jun 02, 2016) (9 pages) Paper No: CND-16-1036; doi: 10.1115/1.4033609 History: Received January 27, 2016; Revised May 05, 2016

A method for trajectory tracking accuracy analysis of a two-link flexible manipulator with lubricated revolute joint involving interval uncertainty is presented. In this method, first, fuzzy self-tuning proportion integration differentiation (PID) control is applied to track the desired tip trajectory of the manipulator. The absolute nodal coordinate formulation (ANCF) is employed for the finite element discretization of the flexible manipulator. And lubricated revolute joint is modeled based on the infinitely short journal bearing with Gümbel conditions. Second, uncertainty of clearance size is considered, and interval analysis method is applied. Numerical simulation is posted to investigate the cushioning effect of lubricants on the clearance and influence of uncertainty on control accuracy of the manipulator. The results show that the lubricants can improve the stability of motion and operation precision of the manipulator; however, uncertainty of the manipulator may reduce the control accuracy of the manipulator.

Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Cross section of a lubricated journal bearing

Grahic Jump Location
Fig. 2

Two-link flexible manipulator model

Grahic Jump Location
Fig. 3

The fuzzy self-tuning PID controller

Grahic Jump Location
Fig. 4

Membership function for elk/Ge, delk/Gde, ΔKp/Gp, ΔKi/Gi, and ΔKd/Gd

Grahic Jump Location
Fig. 5

Interval uncertain analysis for a manipulator

Grahic Jump Location
Fig. 6

Circle trajectory tracking of manipulator

Grahic Jump Location
Fig. 7

The desired trajectory and the actual trajectory of the manipulator tip

Grahic Jump Location
Fig. 8

Error of (a) shoulder angle and (b) elbow angle

Grahic Jump Location
Fig. 9

Error in (a) X-direction and (b) Y-direction of the elbow tip

Grahic Jump Location
Fig. 10

Translational acceleration of the elbow tip in X-direction

Grahic Jump Location
Fig. 11

Translational acceleration of the elbow tip in Y-direction

Grahic Jump Location
Fig. 12

Applied torques to shoulder motor

Grahic Jump Location
Fig. 13

Applied torques to elbow motor

Grahic Jump Location
Fig. 14

Error of shoulder angle for the manipulator (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

Grahic Jump Location
Fig. 15

Error of elbow angle for the manipulator (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

Grahic Jump Location
Fig. 16

Error in X-direction of the elbow tip (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

Grahic Jump Location
Fig. 17

Error in Y-direction of the elbow tip (c = 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm): (a) dry contact model and (b) lubricated model

Grahic Jump Location
Fig. 18

Error region of (a) shoulder angle and (b) elbow angle

Grahic Jump Location
Fig. 19

Error region in (a) X-direction and (b) Y-direction of the elbow tip

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In