Dynamic Modeling of Planar Flexible Multi-Link Manipulators with Accounting for both Link Foreshortening and Link Material Damping
In order to investigate dynamic performance of flexible multi-link manipulators more exactly, establishing the dynamic model with accounting for link foreshortening and link material damping is needed. In this paper, a new dynamic model for planar flexible multi-link manipulators is established by using Lagrange approach. Both link foreshortening and link material damping are accounted for in this model. As a case simulation, this model is applied to a planar flexible two-link manipulator with a tip mass, and the motion responses of the manipulator are obtained using Gear method.
Jianmin Zeng, Zhengyi Jiang, Taosen Li, Daoguo Yang and Yun-Hae Kim
J. F. Zhang "Dynamic Modeling of Planar Flexible Multi-Link Manipulators with Accounting for both Link Foreshortening and Link Material Damping", Advanced Materials Research, Vols. 199-200, pp. 19-24, 2011