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Design and development of an experimental flexiblemanipulator system

Published online by Cambridge University Press:  01 May 1997

M. O. Tokhi  and
A. K. M. Azad
M. O. Tokhi
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD, UK. E-mail: O.Tokhi@sheffield.ac.uk
A. K. M. Azad
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD, UK. E-mail: O.Tokhi@sheffield.ac.uk
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Abstract

This paper presents the design and development of a laboratory facility constituting a constrained planar flexible manipulator system. The system is designed for experimental investigations within research programmes involving flexible manipulator systems. An outline of a generic design procedure for flexible manipulator systems is given. The design criteria developed through this procedure account for the strength and stiffness of the manipulator and the required transducers and instrumentation. These are considered in detail and the system designed accordingly. Finally, practical problems encountered are highlighted and methods of dealing with such problems are presented and discussed.

Keywords

Flexible systemManipulatorsLaboratory design
Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997 , pp. 283 - 292
Copyright
© 1997 Cambridge University Press

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