Dynamic modelling and characterisation of a two-link flexible robot manipulator
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 sys...
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| Main Authors: | , , , |
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| Format: | Article |
| Published: |
Sage Journals
2010
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/25113/ http://dx.doi.org/10.1260/0263-0923.29.3.207 |
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| Institution: | Universiti Teknologi Malaysia |
| Summary: | 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. |
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