Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint

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dc.contributor.authorKalyoncu, Mete
dc.date.accessioned2020-03-26T17:27:13Z
dc.date.available2020-03-26T17:27:13Z
dc.date.issued2008
dc.departmentSelçuk Üniversitesien_US
dc.description.abstractIn 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.en_US
dc.identifier.doi10.1016/j.apm.2007.02.032en_US
dc.identifier.endpage1098en_US
dc.identifier.issn0307-904Xen_US
dc.identifier.issue6en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1087en_US
dc.identifier.urihttps://dx.doi.org/10.1016/j.apm.2007.02.032
dc.identifier.urihttps://hdl.handle.net/20.500.12395/22505
dc.identifier.volume32en_US
dc.identifier.wosWOS:000254447300012en_US
dc.identifier.wosqualityQ2en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherELSEVIER SCIENCE INCen_US
dc.relation.ispartofAPPLIED MATHEMATICAL MODELLINGen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectflexible robot manipulatoren_US
dc.subjectdynamic responseen_US
dc.subjectstraight-line pathen_US
dc.subjectrotating-prismatic jointen_US
dc.subjectmathematical modellingen_US
dc.titleMathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic jointen_US
dc.typeArticleen_US

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