Study of Real-Time Vibration and Hardware Implementation of Serial-Link Flexible Robot with Gripper

The Flexible Robotic System (FRS) is a real-time dynamic multi-body system with flexible links having the challenging issue of vibration which is self-propagating in nature. The paper addresses the distinctive and unique design of a representative FRS, augmented with worm-gear based revolute joints. Real-time actuation of such revolute joint is surely a novelty of the flexible robotic system developed. Besides, results of modal analysis, stress & deflection analysis of the developed FRS having three degrees-of-freedom will be reported. In this study, design as well as Finite Element Analysis of the flexible links and worm gear-based revolute joints has been accomplished. Apart from successful hardware testing of the prototype FRS in real-time, the paper focuses on the new approach towards bringing out the effect of vibration on the dynamics of the FRS.