Dynamic Modelling of a Two-link Flexible Robot Manipulator
نویسندگان
چکیده
This paper presents dynamic modelling of a two-link flexible manipulator system. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. A two-link flexible manipulator incorporating structural damping, hub inertia and payload is considered. An explicit, complete, and accurate nonlinear dynamic model of the system is developed using assumed mode method. Moreover, the effects of payload on the response of a two-link flexible manipulator are studied.
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