Dynamic Modelling and Characterisation of a Two-Link Flexible Robot Manipulator
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.
- Publication:
-
Journal of Low Frequency Noise Vibration and Active Control
- Pub Date:
- September 2010
- DOI:
- 10.1260/0263-0923.29.3.207
- Bibcode:
- 2010JLFNV..29..207K