Theoretical Study of Viscoelastic Robotic Manipulators using Kelvin-Voigt Structural Damping Model

This research presents the development of dynamic modeling of viscoelastic robotic manipulators by the use of Gibbs-Appell formulation and the assumed mode approach. Elastic characteristics of the links are modeled according to the Timoshenko beam theory. Also the effects of the motors at the joints are considered. In the mathematical modeling, torsion, extensional elongation, bending in two directions, structural damping, viscous air effects as well as the effects of gravity have also been inserted into the formulations.