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The FutureForge manipulator and an approximate analytical solution algorithm for its nonlinear dynamics
1 : University of Strathclyde
16 Richmond St Glasgow G1 1XQ, Glasgow, Scotland -
United Kingdom
2 : University of Strathclyde
16 Richmond St Glasgow G1 1XQ, Glasgow, Scotland -
United Kingdom
3 : University College Dublin
Belfield, Dublin 4, Ireland -
Ireland
4 : University of Novi Sad
* : Corresponding author
Dr Zorana Dindica 1, 21102 Novi Sad, Serbia -
Serbia
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.
