Universiti Teknologi Malaysia Institutional Repository

Effect of beam's length on the dynamic modelling of flexible manipulator system

Ahmad, M. A. and Zawawi, M. A. and Mohamed, Z. (2009) Effect of beam's length on the dynamic modelling of flexible manipulator system. In: 2009 11th International Conference on Computer Modelling and Simulation. Article number 4809791 . Institute of Electrical and Electronics Engineers, New York, pp. 356-361. ISBN 978-076953593-7

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Official URL: http://dx.doi.org/10.1109/UKSIM.2009.59

Abstract

This paper presents theoretical investigations into the dynamic characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system, incorporating structural damping and hub inertia, is developed using finite element method. Simulation exercises are performed with bang-bang input torque applied to the actuator. The simulation algorithm thus developed is implemented in Matlab. To study the effects of length on the response of the flexible manipulator, the results are evaluated with varying beam's length in the algorithm. Simulation results are presented in time and frequency domains. Performance of the algorithm in describing the dynamic behaviour of the system is examined in terms of level of vibration frequencies and time response specifications. Finally, a comparative assessment of different beam's length to the system performance is assessed and discussed

Item Type:Book Section
Additional Information:11th International Conference on Computer Modelling and Simulation, UKSim 2009; Cambridge; 25 March 2009 through 27 March 2009
Uncontrolled Keywords:dynamic modelling, flexible manipulators
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:13536
Deposited By: Ms Zalinda Shuratman
Deposited On:09 Aug 2011 01:21
Last Modified:09 Aug 2011 01:21

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