Novel Design, Vibration Analysis and Mechanical System Hardware of a Serial Three-Link Flexible Robot Interfaced with A Mini-Gripper Volume 3 - Issue 3

Pratik Chothe¹*, Aniket Bhelsaikar², Viinod Atpadkar^1,2 and Debanik Roy³

• ¹Robotics Division, SVR Info Tech, India
• ²CAE Division, SVR Infotech, India
• ³Division of Remote Handling & Robotics, Bhabha Atomic Research Centre & Homi Bhabha National Institute, Department of Atomic Energy, India

Received:November 17, 2021   Published: November 30, 2021

Corresponding author: Pratik Chothe, Robotics Division, SVR Infotech, Pune, India

DOI: 10.32474/ARME.2021.03.000161

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Abstract

Flexible Robotic System (FRS) is a real-time dynamic multi-body system that has various challenging issues related to real-time control of its inherent self-propagating type of vibration. The present research reports a novel, distinctive and unique design of a representative multi-degrees-of-freedom FRS, augmented with worm-gear based revolute joints. The paper addresses novel design semantics as well as vibration analysis of a three degrees-of-freedom flexible robotic arm, fitted with a mini-gripper at its distal link. The design of the ‘test’ and prototype flexible robotic arms was carried out along with the stress, deflection & modal analysis of the links and joints a-priori. Besides development of the laboratory-based test hardware as well as beta version (prototype) of the FRS, the paper focuses on new insight towards modelling of the inherent vibration and brings out its effect on the associated dynamics of the FRS.

Keywords: Flexible Robotic System; Revolute Joint; Dynamics; Vibration; Hardware; Rheology Gripper

Abstract| Introduction| Mechanical Design of The Developed Prototype of Three-Link Serial-Chain Flexible Robotic System| Design Metrics of The Joint Sub-Assembly & Mini- Gripper System of The Flexible Robotic System: ‘PAR’-Prototype| Finite Element Model of The Prototype Flexible Robotic System for Deflection, Vibration & Rheological Analysis| Hardware Manifestation of The Prototype Flexible Robotic System| Conclusions| Acknowledgement| References|