Dynamic Modeling of an Axially Moving Beam in Rotation: Simulation and Experiment

[+] Author and Article Information
J. Yuh, T. Young

Department of Mechanical Engineering, University of Hawaii, Honolulu, Hawaii 96822

J. Dyn. Sys., Meas., Control 113(1), 34-40 (Mar 01, 1991) (7 pages) doi:10.1115/1.2896355 History: Received August 15, 1989; Revised January 01, 1990; Online March 17, 2008


In this paper, we consider a beam which has a rotational and translational motion. A time-varying partial differential equation and the boundary conditions are derived to describe the lateral deflection of the beam. For multivariable control, an approximated model is also derived by using the assumed mode method. The validity of the approximated model is investigated by the experiment. For different repositional motions, response of the beam is further investigated by computer simulation. Application of the beam to flexible robotic manipulators is discussed with simulation results.

Copyright © 1991 by The American Society of Mechanical Engineers
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