Analytical and simulation modeling of flexible joints for mechatronic and robotic systems
To operate in unstructured environments, robots must have the property of passivity which can be realized either through control algorithms or physical elastic elements. Flexible elements can be used to recover energy, absorb peak shock loads, and simplify the control system, generally reducing th...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)
2023-10-01
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| Series: | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| Subjects: | |
| Online Access: | https://ntv.ifmo.ru/file/article/22378.pdf |
| _version_ | 1797656002947973120 |
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| author | Egor A. Rakshin Ivan. I. Borisov |
| author_facet | Egor A. Rakshin Ivan. I. Borisov |
| author_sort | Egor A. Rakshin |
| collection | DOAJ |
| description | To operate in unstructured environments, robots must have the property of passivity which can be realized either
through control algorithms or physical elastic elements. Flexible elements can be used to recover energy, absorb peak
shock loads, and simplify the control system, generally reducing the requirements for accurate information about the
robot’s environment. The modeling of flexible bodies, for example using the finite element method, is computationally
demanding, which limits the simulation of the dynamic behavior of robots with flexible elements. In this paper, we
propose an approach for analytical and simulation modeling of flexible joints using the planar case of a spatial spring
model, which provides high speed simulation without loss of accuracy. The synthesis of the flexible joint model consists
of numerical optimization of the nonlinear stiffness diagrams of the rotational and translational degrees of freedom
for the planar case of the spatial spring model. The synthesized flexible joint model allows describing the relative
motion of two links. In the first step of the synthesis, the flexible joint is optimized by finite element method to find
the reference data of applied load and corresponding deformations. In the second stage, an optimization problem is
solved to find nonlinear stiffness diagrams for the planar case of the spatial spring model; the criterion is to minimize
the error between the reference data and the optimized spring model. In the third stage, the obtained results are verified
by simulation and/or physical experiment. The method of analytical and simulation modeling of flexible joints with
the help of spatial spring model is proposed, the procedure of optimization of stiffness of spring model is proposed,
verification in simulation environment is carried out, full-scale experiment is carried out, comparison of simulations
by finite element method, simulation with the help of spring model and results of full-scale experiment is provided.
The proposed method allows the calculation of a simulation model of a flexible joint approximately twice as fast as the
finite element method. The proposed model of flexible joint is necessary to increase the speed of simulation modeling of
mechatronic and robotic systems with compliant hinges without loss of accuracy. Approbation of the method is planned
for the design of locomotion, manipulation, wearable robots, and gripper devices. |
| first_indexed | 2024-03-11T17:22:52Z |
| format | Article |
| id | doaj.art-ac0b442186ae48dd81efaae0f0f44384 |
| institution | Directory Open Access Journal |
| issn | 2226-1494 2500-0373 |
| language | English |
| last_indexed | 2024-03-11T17:22:52Z |
| publishDate | 2023-10-01 |
| publisher | Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University) |
| record_format | Article |
| series | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| spelling | doaj.art-ac0b442186ae48dd81efaae0f0f443842023-10-19T09:34:40ZengSaint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki2226-14942500-03732023-10-012351056106410.17586/2226-1494-2023-23-5-1056-1064Analytical and simulation modeling of flexible joints for mechatronic and robotic systemsEgor A. Rakshin0https://orcid.org/0000-0003-1983-6142Ivan. I. Borisov1https://orcid.org/0000-0003-0168-6609Engineer, ITMO University, Saint Petersburg, 197101, Russian FederationPhD, Associate Professor, ITMO University, Saint Petersburg, 197101, Russian FederationTo operate in unstructured environments, robots must have the property of passivity which can be realized either through control algorithms or physical elastic elements. Flexible elements can be used to recover energy, absorb peak shock loads, and simplify the control system, generally reducing the requirements for accurate information about the robot’s environment. The modeling of flexible bodies, for example using the finite element method, is computationally demanding, which limits the simulation of the dynamic behavior of robots with flexible elements. In this paper, we propose an approach for analytical and simulation modeling of flexible joints using the planar case of a spatial spring model, which provides high speed simulation without loss of accuracy. The synthesis of the flexible joint model consists of numerical optimization of the nonlinear stiffness diagrams of the rotational and translational degrees of freedom for the planar case of the spatial spring model. The synthesized flexible joint model allows describing the relative motion of two links. In the first step of the synthesis, the flexible joint is optimized by finite element method to find the reference data of applied load and corresponding deformations. In the second stage, an optimization problem is solved to find nonlinear stiffness diagrams for the planar case of the spatial spring model; the criterion is to minimize the error between the reference data and the optimized spring model. In the third stage, the obtained results are verified by simulation and/or physical experiment. The method of analytical and simulation modeling of flexible joints with the help of spatial spring model is proposed, the procedure of optimization of stiffness of spring model is proposed, verification in simulation environment is carried out, full-scale experiment is carried out, comparison of simulations by finite element method, simulation with the help of spring model and results of full-scale experiment is provided. The proposed method allows the calculation of a simulation model of a flexible joint approximately twice as fast as the finite element method. The proposed model of flexible joint is necessary to increase the speed of simulation modeling of mechatronic and robotic systems with compliant hinges without loss of accuracy. Approbation of the method is planned for the design of locomotion, manipulation, wearable robots, and gripper devices.https://ntv.ifmo.ru/file/article/22378.pdfsimulation modelingflexible jointselasticity theorypseudo-rigid body modeloptimizationsurrogate model |
| spellingShingle | Egor A. Rakshin Ivan. I. Borisov Analytical and simulation modeling of flexible joints for mechatronic and robotic systems Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki simulation modeling flexible joints elasticity theory pseudo-rigid body model optimization surrogate model |
| title | Analytical and simulation modeling of flexible joints for mechatronic and robotic systems |
| title_full | Analytical and simulation modeling of flexible joints for mechatronic and robotic systems |
| title_fullStr | Analytical and simulation modeling of flexible joints for mechatronic and robotic systems |
| title_full_unstemmed | Analytical and simulation modeling of flexible joints for mechatronic and robotic systems |
| title_short | Analytical and simulation modeling of flexible joints for mechatronic and robotic systems |
| title_sort | analytical and simulation modeling of flexible joints for mechatronic and robotic systems |
| topic | simulation modeling flexible joints elasticity theory pseudo-rigid body model optimization surrogate model |
| url | https://ntv.ifmo.ru/file/article/22378.pdf |
| work_keys_str_mv | AT egorarakshin analyticalandsimulationmodelingofflexiblejointsformechatronicandroboticsystems AT ivaniborisov analyticalandsimulationmodelingofflexiblejointsformechatronicandroboticsystems |