The Dynamic Response of Robot with Links Fabricated from Composite Laminates

It is investigated to determine both the optimal fabrication parameter of compositelaminates and the optimal geometry size of link section for process robot with flexi-ble link,by developing the formulations on calculating the material damping andmoduli of flexural rigidity for hollow box members constructed with compositelaminates.In the optimal design of robotic manipulators,the objective function is the dam-ping capacity to be maximized subject to constraints imposed upon the flexural rigidityetc.In order to simulate the elastodynamic behavior of the end-effectors for processrobot mentioned above,and to show the disappearance process of the residual vib-ration of the mechanism system,the finite element of three dimensions is applied forthe mechanism system to establish the differentiating equations of motion for thesystem which is solved by the Newmark method of numerical integration.