Universiti Teknologi Malaysia Institutional Repository

Dynamic modelling of a two-link flexible manipulator system incorporating payload

Ahmad, M.A. and Mohamed, Zaharuddin and Hambali, N. (2008) Dynamic modelling of a two-link flexible manipulator system incorporating payload. In: Industrial Electronics and Applications, 2008. ICIEA 2008. 3rd IEEE Conference, 3-5 June 2008, Singapore.

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Abstract

This paper presents dynamic modelling of a two-link flexible manipulator based on closed-form equations of motion. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. The Lagrangian approach is used to derive the dynamic model of the structure. Links are modelled as Euler-Bernoulli beams with proper clamped-mass boundary conditions. A dynamic model of the system, incorporating structural damping, hub inertia and payload, is developed using finite assumed mode methods. Explicit equations of motions are detailed by assuming two modes of vibration for each link. Moreover, effects of payload on the response of the flexible manipulator are discussed. Extensive results that validate the theoretical derivation are presented in the time and frequency domains.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Euler-Bernoulli beams, Lagrangian approach, clamped-mass boundary conditions, closed-form equations, dynamic modelling, frame transformation matrices, kinematic model, two-link flexible manipulator system
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7738
Deposited By: Norhafizah Hussin
Deposited On:15 Jan 2009 01:42
Last Modified:01 Jun 2010 15:55

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