A Dynamic Analysis of a Poly-Articulated Robot

Abstract

This paper studies the kinematics and dynamics of a poly-articulated robot. The robot can be used in hardly accessible places and special environments. The poly-articulated robot includes two main parts: a flexible unit and an actuation unit. The flexible unit consists of three modules specially designed for serving in a complex 3D workspace. Each module has flexible vertebrae and rigid disks. The poly-articulated robot simulation is achieved with the MSC Adams 2012 and ANSYS R14.5 software. Thus, we aim to determine whether the variation laws depend on the time of the kinematic parameters for each part in a specific motion, considering each part has to act as a rigid body or a deformable body. Using the finite element method, the stress and deformations for normal and critical positions are calculated for the poly-articulated robot. To validate the simulation models designed in this research, an experimental analysis of the proposed poly-articulated robot is developed. The command and control unit was equipped with motion sensors that allow to identify the position of each flexible unit module.

Keywords

• dynamics
• simulation
• poly-articulated robot