Dynamic Modeling of Planar Flexible Multi-Link Manipulators with Accounting for both Link Foreshortening and Link Material Damping

Jin Fu Zhang

doi:10.4028/www.scientific.net/AMR.199-200.19

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Dynamic Modeling of Planar Flexible Multi-Link Manipulators with Accounting for both Link Foreshortening and Link Material Damping

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 199-200)

Pages:

19-24

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.199-200.19

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Online since:

February 2011

Authors:

Jin Fu Zhang

Keywords:

Dynamic Model, Flexible Manipulator, Link Foreshortening, Material Damping

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