Taking the flexible robot and payload as a closed flexible loop, a new model of two flexible manipulators grasping a flexible payload is proposed by using Finite Element Method. A numerical simulation of two flexible three-link arms manipulating a flexible beam is presented. The advantage of this method is illustrated by comparing with the coordinated dynamic model.

Volume Subject Area:
Mechanisms and Robotics
Topics:
Dynamic modeling, Flexible manipulators, Grasping, Computer simulation, Dynamic models, Finite element methods, Robots
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Copyright © 2002
 by ASME
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