Maximum allowable load of very flexible manipulators by using absolute nodal coordinate

摘要: Abstract The main objective of the present paper is to develop a general formula for finding Dynamic Load Carrying Capacity (DLCC) very flexible link manipulators undergoing large deflection. An efficient finite element formulation, absolute nodal coordinate formulation (ANCF) employed describe nonlinear modeling manipulator with deflection, in which both transverse normal strain and shear are considered. In comparison other deflection formulations, motion equations contain constant mass matrix, also, Coriolis centrifugal forces identically equal zero because terms arising from geometric elastic nonlinearity moved stiffness, reactive external forces, originally nonlinear. This makes particularly computational numerically more stable than alternative geometrically formulations based on lower-order terms. this investigation, derived taking into account deformable using ANCF approaches. Then, method determination dynamic load carrying capacity robot described giving attention accuracy actuator constraints. order initially check validity equations, proposed model has been implemented tested single-link arm. A simulation study carried out verify effectiveness presented algorithm DLCC manipulators. results illustrate power efficiency overcome high nature problem.