The FutureForge manipulator and an approximate analytical solution algorithm for its nonlinear dynamics

Daniel Johnston, Matthew Cartmell, Bradley Wynne, Vikram Pakrashi, Ivana Kovacic

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Abstract

This paper examines a linearisation algorithm developed for the nonlinear dynamics of the FutureForge manipulator - part of a state-of-the-art forging platform being built in Glasgow, Scotland. Building on previous work, the authors investigate means of obtaining approximate analytical solutions for the highly nonlinear system with a view to developing a practical control system in future work. This is done by a combination of algebraic approximation methods, a practical understanding of the machine’s operating characteristics, as well as the application of a perturbation method. The devised method is verified by comparing the resulting approximate analytical solutions with numerical solutions to the nonlinear problem.
Original languageEnglish
Pages774-783
Number of pages10
Publication statusPublished - 20 Jul 2022
Event10th European Nonlinear Dynamics Conference - Lyon, France
Duration: 17 Jul 202222 Jul 2022

Conference

Conference10th European Nonlinear Dynamics Conference
Abbreviated titleENOC 2022
Country/TerritoryFrance
CityLyon
Period17/07/2222/07/22

Keywords

  • linearisation
  • industrial manipulators
  • nonlinear dynamics

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