A Preliminary Investigation of the Dynamic Stability of Flexible Manipulators Performing Repetitive Tasks

[+] Author and Article Information
D. A. Streit, C. M. Krousgrill, A. K. Bajaj

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

J. Dyn. Sys., Meas., Control 108(3), 206-214 (Sep 01, 1986) (9 pages) doi:10.1115/1.3143769 History: Received April 01, 1986; Online July 21, 2009


The governing equations of motion for the compliant coordinates describing a flexible manipulator performing repetitive tasks contain parametric excitation terms. The stability of the zero solution to these equations is investigated using Floquet theory. Analytical and numerical results are presented for a two-degree-of-freedom model of a manipulator with one prismatic joint and one revolute joint.

Copyright © 1986 by ASME
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