Session: 07-02-02: Nonlinear Dynamics, Control, and Stochastic Mechanics

Paper Number: 144414

144414 - Nonlinear Dynamics Simulation of a Shoulder Link of Kinova Gen3 Robotic Arm Over a Range of Frequencies 

Robotic arms perform precise manipulations in a wide variety of applications from factory automation to medical surgery The experts in the field of robotics is trying to study the chaos through vibration, and noise sensing in such a systems like humanoids, bio-robots, and swarms of biologically inspired system. A robotic arm of KINOVA GEN3 with a shoulder link is considered in this paper over a range of frequencies. The chaos motion is happened due to the impact between the actuator and its base frame by taking into consideration the tension and the compression pressures in the shoulder link. The level of chaos is investigated using sample entropy, spectral entropy, permutation entropy, and an approximate entropy. An algorithm in MatLab software is prepared to solve for the entropy value. The higher value of entropy, the more chaos motion. Global false nearest neighbors algorithm is used to determine the value of embedding dimensions while the algorithm of average mutual information is used to evaluate the value of time delay. The KINOVA GEN3 robotic arm is moved with seven degrees of freedom. Moreover, the level of chaos is also detected using the conception of largest Lyapunov exponent at different frequencies ranges. Positive value of Lyapunov exponent represents the chaos motion while the negative value reflects for the periodic motion of the shoulder link. A different ranges shoulder links frequencies such as 250000, 500000, 750000, and 1000000 Hz are used. The frequency and mode shape have been calculated using Finite Element Method of partial differential equation toolbox of MatLab software.

Presenting Author: Louay Yousuf San Diego State University

Presenting Author Biography: Dr. Louay S. Yousuf is a lecturer professor in the Department of Mechanical Engineering, San Diego State University, USA. He received his Ph.D. from the University of Baghdad, Iraq, and was a postdoctoral fellow at the Mechanical Engineering Department, University of Auburn, USA, before joining San Diego State University. His research interests include nonlinear dynamics, composite materials, finite element methods, mechanical vibrations, mechanisms, and robotics.

Authors:

Louay Yousuf San Diego State University