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Dynamic modelling and characterisation of a two-link flexible robot manipulator

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:Unspecified
Divisions:Electrical Engineering
ID Code:25113
Deposited By: Kamariah Mohamed Jong
Deposited On:20 Feb 2017 08:24
Last Modified:20 Feb 2017 08:30

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