The experimental validation of an accurate dynamic model of flexible multi-body planar mechanisms is presented in this paper. The proposed mathematical model, which is valid for whatever planar mechanism with any number of flexible links, accounts for the geometric and inertial nonlinearities of the mechanism, and considers coupling effects among rigid-body and elastic motion as well. In order to experimentally validate the dynamic model, a flexible five-bar planar linkage actuated by two electric motors is employed as a test case. The experimentally measured deformations and accelerations of the flexible links are compared with the numerical results obtained by simulating the system dynamic behavior through the mathematical model. It turns out that the experimental results are in good agreement with the numerical ones, thus proving that the dynamical model proposed is very effective in the difficult task of accurately representing the dynamic behavior of flexible mechanisms.
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June 2004
Technical Papers
On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model
Alessandro Gasparetto
Alessandro Gasparetto
Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica-Universita` di Udine, Via delle Scienze 208, I-33100 Udine Italy
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Alessandro Gasparetto
Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica-Universita` di Udine, Via delle Scienze 208, I-33100 Udine Italy
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division September 22, 2003. Associate Technical Editor: C. D. Rahn.
J. Dyn. Sys., Meas., Control. Jun 2004, 126(2): 365-375 (11 pages)
Published Online: August 5, 2004
Article history
Received:
September 22, 2003
Online:
August 5, 2004
Citation
Gasparetto, A. (August 5, 2004). "On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model ." ASME. J. Dyn. Sys., Meas., Control. June 2004; 126(2): 365–375. https://doi.org/10.1115/1.1767856
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