Coupling Effects in a Manipulator With Both a Flexible Link and Joint

[+] Author and Article Information
F. Xi

Center for Intelligent Machines, McGill University, Montreal, Canada

R. G. Fenton

Department of Mechanical Engineering, University of Toronto, Toronto, Canada M5S 2A4

B. Tabarrok

Department of Mechanical Engineering, University of Victoria, Victoria, Canada

J. Dyn. Sys., Meas., Control 116(4), 826-831 (Dec 01, 1994) (6 pages) doi:10.1115/1.2899288 History: Received March 31, 1993; Revised July 21, 1993; Online March 17, 2008


The manipulator considered in this paper consists of a flexible link and a flexible joint. The coupling effect between link and joint deflections is investigated. The dynamic equations for the of manipulator are derived and analytical solutions are obtained. It is shown that the natural frequencies and mode shapes of a manipulator with both a flexible link and joint may be parametrized in terms of two ratios. One is the ratio of the moment of inertia of the link to that of the rotor and the other is the ratio of the link stiffness to the joint stiffness. Two special cases are discussed: (1) a manipulator with a relatively flexible link and a relatively rigid joint; and (2) a manipulator with a relatively flexible joint and a relatively rigid link.

Copyright © 1994 by The American Society of Mechanical Engineers
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