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Experimental investigations of the effects of cutting angle on chattering of a flexible manipulatorWhen a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different depending on feedback gains, configurations, and direction of interest. Here, the compliance of a manipulator is derived analytically, and its magnitude is represented as a compliance ellipsoid. Then, using a two-link flexible manipulator with an abrasive cut off saw, the experimental investigation shows that the chattering varies with the saw cutting angle due to different compliance. The main work is devoted to finding a desirable cutting angle which reduces the chattering.
Document ID
19910021215
Acquisition Source
Legacy CDMS
Document Type
Other
Authors
Lew, J. (Georgia Inst. of Tech. Atlanta, GA, United States)
Huggins, J. (Georgia Inst. of Tech. Atlanta, GA, United States)
Magee, D. (Georgia Inst. of Tech. Atlanta, GA, United States)
Book, W. (Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Manipulation Strategies for Massive Space Payloads
Subject Category
Mechanical Engineering
Accession Number
91N30529
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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