چكيده به لاتين
The needs to use manipulator with precise and fast movements while it has efficient energy consumption cause to reconstruct theire structures. Therefore, It makes the using other joint's type in serial manipulator being interesting when used with the elastic links in open or closed kinematic chain. Revolute–Prismatic joints application's in flexible links manipulator will be discussed rarely because of the model derivation complexity with respect to each other type of joints such as revolute or prismatic ones. Due to the link's length variation in prismatic joints, the manipulator's dynamic equations extracted in time varying form because of the system inertia matrix changes with respect to time during the motions. For derivation process, the systematic and automatic formulations need when the number of links and joints increase. Therefore, the Gibss-Appell formulation has been used in recursive form by considering the efficient computational complexity with respect to similar approaches. The main contribution of the models illustrated in this thesis for these type of manipulators include: utilization of revolute - prismatic joints in each arms, considering the manipulator's joints dynamic model, computations of manipulator's flexible link's deformation with the use of Timoshenko beam theory while the beam mode shapes changes in each steps, and the prismatic joints structural vibrations resulted from the joint's hub elasticity. These are improving the motion equations accuracy as well as offering the precise robotic system performance. For demonstrating the manipulators dexterity, and workspace, the flexible manipulator developed in the form of mobile robots. This robotic system has some limitations due to the object mass, dimensions and geometry where placed in robot's gripper. Therefore, the multi mobile manipulators with flexible links and revolute–prismatic joints suggested. For concurrent motions of these robots, each manipulators motion equations coupled kinematically by defining the Lagrange multipliers. Then, by omitting these coefficients, the cooperative mobile manipulator's motion equations concluded. In certain application, the cooperative flexible mobile manipulators with constrained and free arms have been studied. In both cases, the motion equations obtain for M manipulators with N flexible links. When the cooperative manipulators used in closed kinematic chain, the kinematic and dynamic constrains defined between the arm's end effector and common object. Finally, the control algorithm presents by using the input-output linearization to reach the equivalent linear dynamic model while with respect to relative degree of system's input and output, the system's internal dynamics illustrated. By using the linear equivalent model, the linear control algorithm design and implement in two approaches for system motions trajectory. For evaluating the resulted dynamic formulation for flexible manipulator with revolute – prismatic joints, the IUST experimental setup built in robotic laboratory of Iran University of science and technology has been used.
