Dynamic Load Carrying Capacity of Flexible Manipulators Using Finite Element Method and Pontryagin’s Minimum Principle

  • سال انتشار: 1392
  • محل انتشار: دوفصلنامه بهینه سازی در مهندسی صنایع، دوره: 6، شماره: 12
  • کد COI اختصاصی: JR_JOIE-6-12_003
  • زبان مقاله: انگلیسی
  • تعداد مشاهده: 435
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نویسندگان

Moharam H. Korayem

Professor, Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

Mostafa Nazemizadeh

Phd candidate, Robotic Research Laboratory, College of Mechanical Engineering, Amirkabir University, Tehran, Iran

Hamed Rahimi nahooji

MSc, Department of Mechanical Engineering, Damavand Branch, Islamic Azad University, Damavand, Iran

چکیده

In this paper, finding Dynamic Load Carrying Capacity (DLCC) of flexible link manipulators in point to-point motion was formulated asan optimal control problem. The finite element method was employed for modelling and deriving the dynamic equations of the system. Thestudy employed indirect solution of optimal control for system motion planning. Due to offline nature of the method, many difficulties suchsystem nonlinearities and all types of constraints can be catered for and implemented easily. The application of Pontryagin’s minimumprinciple to this problem was resulted in a standard two-point boundary value problem (TPBVP), solved numerically. Then, theformulation was developed to find the maximum payload and corresponding optimal path. The main advantage of the proposed method isthat the various optimal trajectories can be obtained with different characteristics and different maximum payloads. Therefore, the designercan select a suitable path among the numerous optimal paths. In order to verify the effectiveness of the method, a simulation studyconsidering a two-link flexible manipulator was presented in details.

کلیدواژه ها

Flexible Manipulator; Finite Element Method; Pontryagin Minimum Principle

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