6533b830fe1ef96bd12965ff

RESEARCH PRODUCT

Dynamic Modeling of Planar Multi-Link Flexible Manipulators

Dipendra SubediIlya TyapinGeir Hovland

subject

0209 industrial biotechnologyControl and OptimizationComputer science02 engineering and technology020901 industrial engineering & automationPlanarArtificial IntelligenceNormal modeControl theoryVDP::Teknologi: 500::Maskinfag: 570TJ1-15700202 electrical engineering electronic engineering information engineeringMechanical engineering and machineryBoundary value problemEigenvalues and eigenvectorsroboticsOscillationmodesMechanical Engineering020208 electrical & electronic engineeringPayload (computing)Equations of motionmodelingoscillationVibrationflexibilityvibration

description

A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.

yearjournalcountryeditionlanguage
2021-05-11Robotics
https://doi.org/10.3390/robotics10020070