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| Prototype of Spatial Elastic Serial Manipulator | One Example of Calculated and Measured Vibratory Acceleration |
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(PF2)Vibration Analysis of Spatial Serial Elastic Manipulator
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In order to establish control system to surpress elastic vibration of serial manipulators with light weight, a new effective simulation tool should be developed. A spatial serial manipulator was modelled as instanteneous Rhamen structure obtained by serially connecting L-shaped Euler's bar and elastic vibratory equations were then derived. For an example, a 4R-manipulator was analyzed and experimentally examined.
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