Dynamic Stress Analysis of a Spring Actuated Manipulator with Tip Payload

P. Persad, K. Loutan Jr., and C. Maharaj (Trinidad)


Flexible manipulators, dynamic stress, tip payload, vibration fatigue, finite element model, spring actuation


The dynamic stress analysis is performed on a single link manipulator with payload, subjected to high joint acceleration and deceleration. Actuation is achieved with a linear extension spring. A Mode Superposition model is employed and the results of joint angular velocity and Von Mises stresses were comparable to that of a finite element model. The maximum stress occurred during the braking region of the cycle. The stress spectrum in this region was reduced to individual stress amplitudes and the corresponding number of cycles via the rainflow counting algorithm, to allow for future analysis into fatigue life predictions.

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