Dynamics and Control of a Translating Flexible Beam With a Prismatic Joint

[+] Author and Article Information
Sivakumar S. K. Tadikonda, Haim Baruh

Department of Mechanical and Aerospace Engineering, Rutgers University, New Brunswick, NJ 08903

J. Dyn. Sys., Meas., Control 114(3), 422-427 (Sep 01, 1992) (6 pages) doi:10.1115/1.2897364 History: Received January 09, 1990; Revised August 28, 1991; Online March 17, 2008


The complete dynamic model of a translating flexible beam, with a tip mass at one end and emerging from or retracting into a rigid base at the other, is presented. The model considers the effect of elastic and translational motions of the beam on each other. The properties of the eigenfunctions of a fixed-free beam are exploited to obtain closed-form expressions for several domain integrals that arise in the model. It is shown that neglecting the effect of elastic motion on the rigid body motion leads to inaccuracies in positioning control. Issues associated with the feedback control of such a beam are discussed.

Copyright © 1992 by The American Society of Mechanical Engineers
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