S. Oral et Sk. Ider, COUPLED RIGID-ELASTIC MOTION OF FILAMENT-WOUND COMPOSITE ROBOTIC ARMS, Computer methods in applied mechanics and engineering, 147(1-2), 1997, pp. 117-123
This paper presents a methodology for the analysis of robotic arms con
sisting of composite box-beams and rigid bodies undergoing large rotat
ions. A two-node hybrid-stress sheer-flexible finite element is used i
n modeling the links. The mass properties of the finite element which
are required for multibody dynamic analysis are developed. A recursive
formulation based on Kane's equations is used in the analysis of the
multi-link system. Floating body reference frames allow the imposition
of different boundary conditions and the dynamical equations contain
all the nonlinear interactions between the rigid and elastic motions.
Isotropic and composite spatial robotic arms of the same weight are si
mulated to illustrate the improvement obtained by using composite mate
rials.