A planar flexible robotic manipulator

被引：5
作者：
Gamarra-Rosado, VO [1 ]
机构：
[1] UNESP, Coll Engn, Div Mech Engn, Guaratingueta, Brazil
来源：
KYBERNETES | 2000年 / 29卷 / 5-6期
关键词：
cybernetics; robotics; dynamic modelling; simulation;
D O I：
10.1108/03684920010333206
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Presents the dynamic modelling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory, which is used to discretize the displacements such that the small motion is represented in terms of nodal displacements. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.
引用
收藏
页码：787 / 796
页数：10
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