In this paper, the effect of normal impact on the mathematical modeling of flexible multiple links is investigated. The response of such a system can be fully determined by two distinct solution procedures. Highly nonlinear differential equations are exploited to model the falling phase of the system prior to normal impact; and algebraic equations are used to model the normal collision of this ...

In this research the sensitivity analysis of the geometric parameters such as: length, thickness and width of a single link flexible manipulator on maximum deflection (MD) of the end effector and vibration energy (VE) of that point are conducted. The equation of motion of the system is developed based on Gibbs-Appel (G-A) formulation. Also for modeling the elastic property of the system the ass...

Since 1986 the Electromagnetics Institute, the Technical University of Denmark, has designed, build and tested a high resolution airborne C-band Synthetic Aperture Radar, SAR. The first test flights took place in November and December 1989. The radar design has been based on digital technology to the largest possible extent, to make the system as adaptable as possible. This has resulted in a ve...

Mekanik sistemler çalışmaları esnasında titreşimlere ve bozucu etkilere maruz kalırlar. Bu etkilerden kurtulmak için çeşitli kontrol yöntemleri geliştirilmiştir. Sıralı kontrol, PID giriş şekillendirmeyi bir araya getiren yöntemidir. Temelinde şekillendirme kullanarak sistemin hızlı titreşimsiz şekilde istenen referans değerine ulaşması sağlandıktan sonra, anahtarlama yardımıyla kontrole geçile...

Abstract The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching ...