A critical review of modelling methods for flexible and rigid link manipulators


Lee, Tian Soon and Alandoli, Esmail Ali (2020) A critical review of modelling methods for flexible and rigid link manipulators. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 42 (10). pp. 1-14. ISSN 1678-5878

[img] Text
Restricted to Repository staff only

Download (449kB)
[img] Text
A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators.pdf
Restricted to Repository staff only

Download (955kB)


Mathematical modelling plays an important role for robotic manipulators in order to design their particular controllers. Also, it is hard challenge to obtain an accurate mathematical model or obtain a suitable modelling method in such vast field. Thus, this critical review is advantageous and indispensable for researchers who are interested in the area to gain fruitful knowledge on the mathematical modelling methods. This paper is classified based on the type of robotic manipulators such as flexible link manipulators (FLMs), rigid link manipulators (RLMs) and hybrid manipulators which involves rigid links and flexible links. The used modelling methods for FLMs are the assumed mode method, the finite element method, and the lumped parameter method as approximation techniques which are well explained and reviewed. The Lagrangian method has inclusive explanation and review which is widely participated for obtaining the dynamic equations of FLMs, and it is appropriate and commonly employed for modelling RLMs. The Newtonian method, the forward kinematic, and the inverse kinematic are also well discussed and reviewed which are suitable and commonly employed for modelling RLMs. The critical discussion of 170 articles reported in this paper guides researchers to select the suitable method for modelling. This paper reviews the published articles in the period of 2010–2020 except for few older articles for the need of providing essential theoretical knowledge. The advantages and disadvantages of each method are well summarized at the end of the paper. The intelligent identification methods are briefly discussed due to the lack of publications especially on the period of 2010–2020.

Item Type: Article
Uncontrolled Keywords: Manipulators (Mechanism)
Subjects: T Technology > TJ Mechanical Engineering and Machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions: Faculty of Engineering and Technology (FET)
Depositing User: Ms Nurul Iqtiani Ahmad
Date Deposited: 19 Oct 2020 17:18
Last Modified: 19 Oct 2020 19:50
URII: http://shdl.mmu.edu.my/id/eprint/7782


Downloads per month over past year

View ItemEdit (login required)