Abstract
This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode method. Simulation is performed to assess the dynamic model and system responses at the hub and end-point of both links are presented and analysed in time and frequency domains. Moreover, effects of payload on the dynamic characteristics of the flexible manipulator are studied and discussed.
| Original language | English |
|---|---|
| Pages (from-to) | 207-219 |
| Number of pages | 13 |
| Journal | Journal of Low Frequency Noise Vibration and Active Control |
| Volume | 29 |
| Issue number | 3 |
| DOIs | |
| State | Published - 1 Sep 2010 |
| Externally published | Yes |
Keywords
- Assumed mode
- modelling
- two-link flexible manipulator
ASJC Scopus subject areas
- Civil and Structural Engineering
- Building and Construction
- Acoustics and Ultrasonics
- Mechanics of Materials
- Geophysics
- Mechanical Engineering
Fingerprint
Dive into the research topics of 'Dynamic modelling and characterisation of a two-link flexible robot manipulator'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver