Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping

[+] Author and Article Information
Fan Zijie

Beijing Simulation Center, P.O. Box 142-23, Beijing 100854, P.R. China

Lu Bingheng, C. H. Ku

Department of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, P.R. China

J. Dyn. Sys., Meas., Control 119(4), 831-833 (Dec 01, 1997) (3 pages) doi:10.1115/1.2802399 History: Received September 27, 1994; Online December 03, 2007


The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.

Copyright © 1997 by The American Society of Mechanical Engineers
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