Universiti Teknologi Malaysia Institutional Repository

Dynamic modelling of a two-link flexible manipulator

Ishak, Mohamad Hafis Izran (2005) Dynamic modelling of a two-link flexible manipulator. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering.

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Abstract

Flexible manipulator systems exhibit many advantages over their traditionala (rigid-arm) counterparts. However, they have not been favoured in production industries due to its obvious disadvantages in controlling the manipulator. Therefore, this thesis presents theoretical investigation into the dynamic modelling and characterisation of a flexible manipulator system. A constrained two-link flexible manipulator is considered that moves in horizontal plane only. A mathematical model of the system is developed based on finite element method. The final derived model of the system is simulated to investigate the behaviours of the system.

Item Type:Thesis (Masters)
Additional Information:Thesis (Master of Engineering (Electrical - Mechatronics & Automatic Control)) - Universiti Teknologi Malaysia 2005; Supervisor : Dr. Zaharuddin Mohamed
Uncontrolled Keywords:flexible manipulator systems, dynamic modelling, two-link flexible manipulator, Finite Element method
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:5149
Deposited By: Ms Zalinda Shuratman
Deposited On:27 Feb 2008 07:14
Last Modified:23 Jul 2012 06:58

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