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On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model
No full textThe experimental validation of an accurate dynamic model of flexible multi-body planar mechanisms is presented in this paper. The proposed mathematical model, which is valid for whatever planar mechanism with any number of flexible links, accounts for the geometric and inertial non-linearities of the mechanism, and considers coupling effects among rigid-body and elastic motion as well. In order to experimentally validate the dynamic model, a flexible five-bar planar linkage actuated by two electric motors is employed as a test case. The experimentally measured deformations and accelerations of the flexible links are compared with the numerical results obtained by simulating the system dynamic behavior through the mathematical model. It turns out that the experimental results are in good agreement with the numerical ones, thus proving that the dynamical model proposed is very effective in the difficult task of accurately representing the dynamic behavior of flexible mechanisms
History of Robotics: from Ancient Times to the 18th Century
No full textThe idea of “robots”, in the meaning of artificial beings that could
substitute real individuals, mainly to carry out heavy and
repetitive tasks, dates back to ancient times. Indeed, almost every
civilization speculated about such artificial beings, and several
legends flourished among many peoples. The progress of
technology enabled ingenious inventors to design and build some
examples of what we may name “robot”. In this paper, we sketch
a brief history of Robotics, from ancient times to the 18th century.
The most important achievements, as well as the most interesting
legends, are described and illustrated
"Accurate Modelling of a Flexible-Link Planar Mechanism by Means of a Linearized Model in the State-Space Form for Design of a Vibration Controller"
No full textRobots in history: Legends and prototypes from ancient times to the industrial revolution
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