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Effect of payloads contact upon the coupled dynamic response of two cooperating robots

Published online by Cambridge University Press:  09 March 2009

G. Shagal  and
S.A. Meguid
G. Shagal
Affiliation:
Engineering Mechanics & Design Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario M5S 1A4 (Canada)
S.A. Meguid
Affiliation:
Engineering Mechanics & Design Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario M5S 1A4 (Canada)
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Extract

The coupled dynamic response of two cooperating robots handling two flexible payloads is treated using a new algorithm. In this algorithm, the dynamic equations describing the system are obtained using Lagrange's method for the rigid robot links and the finite element method for the flexible payloads. The contact between the flexible payloads is modelled using the penalty function method and a contact search algorithm is employed to identify the contact region.

Keywords

Robot dynamicsFixtureless assemblyCoupled responseFinite element method.
Type
Research Article
Information
Robotica , Volume 14 , Issue 6 , November 1996 , pp. 659 - 665
Copyright
Copyright © Cambridge University Press 1996

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