Dynamic Modeling of a Flexible Manipulator With Prismatic Links

[+] Author and Article Information
B. J. Torby

Department of Mechanical Engineering, 1250 Bellflower Boulevard, California State University, Long Beach, CA 90840

I. Kimura

Department of Mechanical Engineering/Engineering Design, Otto-Von-Guericke-University, Magdeburg, Germany

J. Dyn. Sys., Meas., Control 121(4), 691-696 (Dec 01, 1999) (6 pages) doi:10.1115/1.2802536 History: Received December 03, 1998; Online December 03, 2007


In this paper the equations of motion for a flexible multi-link manipulator are derived. Each link of the manipulator, including those with prismatic motion, is represented by two finite elements in three-dimensional space. The prismatic links are treated as beams with moving boundary conditions, and the position of finite-element node points are not changed relative to the link. The equations are generated using Maple V, and the paper discusses a general approach for eliminating small terms. A sample calculation is performed for a RRP (Stanford arm) manipulator, and the shift of natural frequencies with time are plotted. Results are compared to those obtained by the assumed-mode method.

Copyright © 1999 by The American Society of Mechanical Engineers
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