Dynamic Modeling of a Flexible-Link Flexible-Joint System with Tip Mass Considering Stiffening Effect

This paper presents the dynamic model of a flexible-link, flexible-joint manipulator system with considerable stiffening effect flexible link. A gripper, along tip mass, is attached at one end By employing extended Hamilton’s principle, nonlinear governing equation motion derived several boundary constraints. Under assumption small deformation in free vibration, simplified deduced to determine natural frequencies mechanical system. Four parameters are selected carry out sensitivity study on frequency. The results show that second frequency mainly depends mass payload. Moreover, third significantly affected by moment inertia Regarding constant angular motion, finite element method adopted analyze considering effect. obtained which higher stiffness Single Flexible-link Flexible-joint (SFF) velocity increasing. influence three factors (i.e., payload length link, and velocity) fundamental discussed, instinct characteristics