Maximum Allowable Dynamic Load of Flexible 2-Link Mobile Manipulators Using Finite Element Approach

In this paper a general formulation for finding the maximum allowabledynamic load (madl) of flexible link mobile manipulators is presented. themain constraints used for the algorithm presented are the actuator torquecapacity and the limited error bound for the end-effector during motion onthe given trajectory. the precision constraint is taken into account with twoboundary lines in plane which are equally offset due to the given end-effectortrajectory, while a speed-torque characteristics curve of a typical dc motoris used for applying the actuator constraint. finite element method (fem)is utilized for deriving the kinematic and dynamic equations which considersthe full nonlinear dynamic of mobile manipulator. in order to verify theeffectiveness of the presented algor-ithm, two simulation studies considering aflexible two-link planar manipulator mounted on a mobile base are presentedand the results are discussed.