Bearing Capacity of Cooperating Robot with Flexible Link

A method is presented for computing the dynamic load-carrying capacity of cooperating robot with flexible link. By means of the inverse dynamics model in which the anticipated trajectory is handled as practical boundary constraints in absolute coordinates, the dynamic load-carrying capacity is treated as a linear programming problem. The optimum load-distribution and maximum allowable dynamic load-carrying capacity are obtained by programming load-distribution coefficient The effectiveness of the method is demonstrated through simulation of two flexible-link 3R manipulators cooperating a rigid load.