Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints

Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints Pravesh Kumar, Barun Pratiher This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-603725/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract An efficient and new dynamic model of two-link flexible manipulator connected and controlled by flexible joints i.e., prismatic and revolute pairs has been developed to explore the modal analysis to study tip-trajectory characteristics and subsequently investigate the nonlinear steady-state responses under harmonic motion at flexible joints. The governing equations including joint dynamics have been derived using extended Hamilton’s principle. Modal parameters have been graphically presented to highlight the influences of various system parameters on the determination of eigenfrequencies and eigenspectrums. Obtained reduced order equations have then used to study the trajectory characteristics of tip displacements, angular and actuator positions by imparting the appropriate actuator force and joint torque. Further, nonlinear studies have been carried out to compute the steady state responses and their stability and local bifurcation by using 2 nd order method of multiple scales. Investigation of the influences of various design parameters on the nonlinear stability and local bifurcation of steady state responses have been demonstrated and those results have been found to be in good agreement with numerically obtained findings. The obtained results find very useful in the applications of long-reach robot manipulators performing complex operations assigning with translating and rotary motion together. Thermodynamics and statistical mechanics Two-link manipulator link and joint flexibility prismatic-revolute joints modal analysis dynamic responses bifurcation & stability Full Text Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-603725","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":37821957,"identity":"51c7f61c-2958-4558-a478-b1afd1e9d5dc","order_by":0,"name":"Pravesh Kumar","email":"","orcid":"","institution":"Indian Institute of Technology Rajasthan: Indian Institute of Technology Jodhpur","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Pravesh","middleName":"","lastName":"Kumar","suffix":""},{"id":37821958,"identity":"69a02958-eabf-4f4b-a306-2fcac6332e4c","order_by":1,"name":"Barun Pratiher","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAsklEQVRIiWNgGAWjYBACAzBZIcHDwHAAxJIgVssZCR4e0rQwtjEw8BDtMHP2s8+kC+dZyNgzHmD88IPBIo+gFsuedDPpmdvADmOW7GGQKCbssANpbNK8EC0M0kC/JDYQ1HL+GVDLHIgtv4nTcgNkSwNYCxtxtljOeMZszXMMqOXAwTbLHgMitJjzpzHe5qmps2efcfjwjR8VdYS1IIDEwQZYzBIL+EkwfhSMglEwCkYWAAArOS/wMg9DhwAAAABJRU5ErkJggg==","orcid":"https://orcid.org/0000-0002-1219-6923","institution":"Indian Institute of Technology Rajasthan: Indian Institute of Technology Jodhpur","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Barun","middleName":"","lastName":"Pratiher","suffix":""}],"badges":[],"createdAt":"2021-06-08 21:35:13","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-603725/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-603725/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":13656594,"identity":"b6f97b88-bf72-459a-be44-ea9679961d51","added_by":"auto","created_at":"2021-09-17 10:06:41","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1056476,"visible":true,"origin":"","legend":"","description":"","filename":"NODYSingleFileManuscript240621.pdf","url":"https://assets-eu.researchsquare.com/files/rs-603725/v1_covered.pdf"},{"id":11307713,"identity":"586d4b7c-f72b-419b-a380-8b023481a5b6","added_by":"auto","created_at":"2021-07-09 16:53:13","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1052993,"visible":true,"origin":"","legend":"","description":"","filename":"NODYSingleFileManuscript240621.pdf","url":"https://assets-eu.researchsquare.com/files/rs-603725/v1_covered.pdf"}],"financialInterests":"","formattedTitle":"\u003cp\u003eTip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints\u003c/p\u003e","fulltext":[{"header":"Full Text","content":"This preprint is available for \u003ca href='/article/rs-603725/latest.pdf' target='_blank'\u003edownload as a PDF\u003c/a\u003e."}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Two-link manipulator, link and joint flexibility, prismatic-revolute joints, modal analysis, dynamic responses, bifurcation \u0026 stability","lastPublishedDoi":"10.21203/rs.3.rs-603725/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-603725/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eAn efficient and new dynamic model of two-link flexible manipulator connected and controlled by flexible joints i.e., prismatic and revolute pairs has been developed to explore the modal analysis to study tip-trajectory characteristics and subsequently investigate the nonlinear steady-state responses under harmonic motion at flexible joints. The governing equations including joint dynamics have been derived using extended Hamilton’s principle. Modal parameters have been graphically presented to highlight the influences of various system parameters on the determination of eigenfrequencies and eigenspectrums.\u0026nbsp;Obtained reduced order equations have then used to study the trajectory characteristics of tip displacements, angular and actuator positions by imparting the appropriate actuator force and joint torque. Further, nonlinear studies have been carried out to compute the steady state responses and their stability and local bifurcation by using 2\u003csup\u003end\u003c/sup\u003e order method of multiple scales. Investigation of the influences of various design parameters on the nonlinear stability and local bifurcation of steady state responses have been demonstrated and those results have been found to be in good agreement with numerically obtained findings. The obtained results find very useful in the applications of long-reach robot manipulators performing complex operations assigning with translating and rotary motion together. \u0026nbsp;\u003c/p\u003e","manuscriptTitle":"Tip Trajectory Characteristics and Nonlinear Stability Analysis of Robotic Manipulator With Flexible Links-joints","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2021-07-09 16:53:01","doi":"10.21203/rs.3.rs-603725/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"d0a6b7f7-072a-4678-8667-a7258b721d45","owner":[],"postedDate":"July 9th, 2021","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[{"id":5576253,"name":"Thermodynamics and statistical mechanics"}],"tags":[],"updatedAt":"2021-08-11T10:31:36+00:00","versionOfRecord":[],"versionCreatedAt":"2021-07-09 16:53:01","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-603725","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-603725","identity":"rs-603725","version":["v1"]},"buildId":"WrCJVZZCHTDjtuVLN7oU0","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}