Dynamic modelling and characterisation of a two-link flexible robot manipulator

被引：32

作者：

Khairudin, M. ^{[1
]}

Mohamed, Z. ^{[1
]}

Husain, A. R. ^{[1
]}

Ahmad, M. A.

机构：

[1] Univ Teknol Malaysia, Fac Elect Engn, Utm Skudai Johor 81310, Malaysia

来源：

JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL | 2010年 / 29卷 / 03期

关键词：

Assumed mode; modelling; two-link flexible manipulator; SYSTEM;

D O I：

10.1260/0263-0923.29.3.207

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

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

引用

页码：207 / 219

页数：13

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