Vibration analysis of an elastic robot manipulator with prismatic joint and a time-varying end mass
Yükleniyor...
Tarih
2004
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
SPRINGER HEIDELBERG
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this study, vibration analysis of an elastic robot arm sliding in a rotating prismatic joint is investigated. The elastic robot arm is assumed to carry a time varying end mass. The problem is a moving boundary value problem. The equations of motion of the elastic arm are obtained by using Lagrange's equation of motion. Effect of rotary inertia, axial shortening and gravitation has been considered in developing the dynamic model. The equations of motion are obtained in the form of a set of ordinary differential equations by using admissible functions and the principle of separation of variables. Equations of motion are numerically solved by using the Runge-Kutta method. A computer program is developed for computer simulations. Numerical results of computer simulations for tip deflections are presented in graphical form. Physical trends of the obtained numerical results are discussed.
Açıklama
Anahtar Kelimeler
elastic robot arm, prismatic joint, time varying end mass, vibration analysis
Kaynak
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
WoS Q DeÄŸeri
N/A
Scopus Q DeÄŸeri
Cilt
29
Sayı
1C
