Hybrid Polymer Composite Flexible Multi-Link Robotic Manipulator Simulation Analysis
S Ramalingam1, S Rasool Mohideen2
1S Ramalingam, Research Scholar, Assistant Professor, Department of Mechanical Engineering, BIHER, Bharath Institute of Science and Technology, Chennai (Tamil Nadu), India.
2S Rasool Mohideen, Department of Mechanical Engineering, B S Abdur Rahaman crescent Institute of Science and Technology, Chennai (Tamil Nadu), India.
Manuscript received on 26 March 2019 | Revised Manuscript received on 05 April 2019 | Manuscript Published on 27 April 2019 | PP: 122-126 | Volume-7 Issue-6S2 April 2019 | Retrieval Number: F90940476S219/2019©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The study deals the dynamic expression for motion of a multilink manipulator with of mechanical flexibility. The hybrid composite material manipulator links are connected in series and actuated at the joints of multilink. A power transmits through double links to complete the task. The lagrangian technique of equations is obtained for simulation study. The equations are transformed into state space model and the matrix is changed into transfer function which is utilized for the system control optimization. Using a time domain and frequency graphical interpolation analysis to investigate stability of the system through linear time invariant viewer and controller part for the unsteady structure is to be organized. A variety of control techniques are added to control the tip position of serial flexible links through MATLAB algorithms. The quadratic optimal regulator is used to find hub angular displacement, flexible deflection, transient period and response of steady time of a multilink robotic manipulator.
Keywords: Multilink, Polymer Composite, Stability, Control.
Scope of the Article: Composite Materials