Dynamics of Robotic Manipulators With Flexible Links

[+] Author and Article Information
Liang-Wey Chang

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

J. F. Hamilton

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907

J. Dyn. Sys., Meas., Control 113(1), 54-59 (Mar 01, 1991) (6 pages) doi:10.1115/1.2896359 History: Received October 16, 1987; Revised January 01, 1990; Online March 17, 2008


This paper presents a dynamic model for the robotic manipulators with flexible links by means of the Finite Element Method and Lagrange’s formulation. By the concept of the Equivalent Rigid Link System (ERLS), the generalized coordinates are selected to represent the total motion as a large motion and a small motion. Two sets of coupled nonlinear equations are obtained where the equations representing small motions are linear with respect to the small motion variables. An example is presented to illustrate the importance of the flexibility effects.

Copyright © 1991 by The American Society of Mechanical Engineers
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