Dynamic Modelling of a Flexible Cylindrical Manipulator
A dynamic model for a flexible cylindrical manipulator is presented. By considering the manipulator arm to be a distributed-mass, flexible element the equations of motion are developed by using the extended Hamilton's principle. The model includes the dynamics of the tail section of the manipulator arm. Simulated results presented for a numerical example indicate that the motion-induced vibration can be considerable and that the vibration of the tail section can cause appreciable position errors. The results emphasize the need for designing sophisticated controllers to dampen out the motion-induced vibration so that a specified maneuver can be executed efficiently.
K. Krishnamurthy, "Dynamic Modelling of a Flexible Cylindrical Manipulator," Journal of Sound and Vibration, vol. 132, no. 1, pp. 143-154, Academic Press Inc., Jul 1989.
The definitive version is available at http://dx.doi.org/10.1016/0022-460X(89)90877-8
Mechanical and Aerospace Engineering
Keywords and Phrases
Equations of Motion; Mathematical Models; Mathematical Techniques--Numerical Methods; Dynamic Modeling; Flexible Cylindrical Manipulator; Hamilton Principle; Taic Section Dynamics; Robots, Industrial
International Standard Serial Number (ISSN)
Article - Journal
© 1989 Academic Press Inc., All rights reserved.