Khairudin, Mohammad and Mohamed, Zaharuddin and Husain, Abdul Rashid and Ahmad, Mohd. Ashraf (2010) Dynamic modelling and characterisation of a two-link flexible robot manipulator. Journal of Low Frequency Noise Vibration and Active Control, 29 (3). 207 - 219. ISSN 0263-0923
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Official URL: http://dx.doi.org/10.1260/0263-0923.29.3.207
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.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | assumed mode, modelling, two-link flexible manipulator |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 25113 |
| Deposited By: | Narimah Nawil |
| Deposited On: | 20 Feb 2017 08:24 |
| Last Modified: | 22 Mar 2018 10:37 |
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