RESEARCH PAPERS: Vibration and Sound

A Dynamic Model on a Single-Link Flexible Manipulator

[+] Author and Article Information
Liang-Wey Chang

Department of Mechanical Engineering, Naval Postgraduate School, Monterey, CA 93943-5000

K. P. Gannon

Long Beach Naval Shipyard, Long Beach, CA 90822

J. Vib. Acoust 112(1), 138-143 (Jan 01, 1990) (6 pages) doi:10.1115/1.2930089 History: Received July 01, 1987; Online June 17, 2008


An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. Joint variables and nodal displacements are chosen being generalized coordinates. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control.

Copyright © 1990 by The American Society of Mechanical Engineers
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