Modeling and testing of moving base manipulators with elastic joints

In this paper, design and manufacturing of a manipulator with joint elasticity is described while different base positions are considered. First, the kinematics and dynamic equations of the mechanism with flexible joints for the three major axis of the mobile robot are derived and simulated. Next, computational technique for obtaining maximum load carrying capacity of robotic manipulators with joint elasticity is described while different base positions are considered. The maximum load carrying capacity that can be achieved by a robotic manipulator during a given trajectory is limited by number of factors. Probably the most important factors are the actuator limitations, joint elasticity (transmissions, reducers and servo drive system) and relative configuration of robot with respect to its base. Finally, the manipulator is tested for a given trajectory in order to find the characteristics of the designed manipulator. While the manipulator is designed to carry the maximum load, end-effector's speed, robot's compatibility with the operator's condition, and accuracy are the most important applicable points of the manipulator. Therefore, the manipulator in different trajectories with various speeds and loads are tested, and then the results are analyzed.