Dynamic Stress Analysis of Flexible Planar Robots

The relation between the elastic deformations and the elastic displacements of the links of flexible planar robots is investigated. The elastic deformations of links are calculated. The kineto-elastodynamics theory in conjunction with Timoshenko beam theory is employed to derive the maximal dynamic stress of the links and its position, considering the effects of bending-shearing strain and tensile-compression strain. The purpose of dynamic stress analysis is well illustrated through the numerical simulation. Compared with the results of SAMCEF software simulation, the numerical simulation results show good coherence and advantages of the method. The dynamic stress analysis is demonstrated to have significant impact on the design and control of flexible robots