Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint
Küçük Resim Yok
Tarih
2008
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
ELSEVIER SCIENCE INC
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this study, mathematical modelling and dynamic response of a flexible robot manipulator with rotating-prismatic joint are investigated. The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of an external driving torque and an axial force. Considered robot manipulator consists of a rotating prismatic joint and a sliding flexible arm with a tip mass. Flexible arm is assumed to be an Euler-Bernoulli beam carrying an end-mass. Equations of motion of the flexible manipulator are obtained by using Lagrange's equation of motion. Effect of rotary inertia, axial shortening and gravitation is considered in the analysis. Equations of motion are solved by using fourth order Runge-Kutta method. Numerical simulations obtained by using a developed computer program are presented and physical trend of the results are discussed. (c) 2007 Elsevier Inc. All rights reserved.
Açıklama
Anahtar Kelimeler
flexible robot manipulator, dynamic response, straight-line path, rotating-prismatic joint, mathematical modelling
Kaynak
APPLIED MATHEMATICAL MODELLING
WoS Q Değeri
Q2
Scopus Q Değeri
Q1
Cilt
32
Sayı
6
