contributor author | B. J. Torby | |
contributor author | I. Kimura | |
date accessioned | 2017-05-08T23:59:08Z | |
date available | 2017-05-08T23:59:08Z | |
date copyright | December, 1999 | |
date issued | 1999 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26260#691_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/121874 | |
description abstract | In this paper the equations of motion for a flexible multi-link manipulator are derived. Each link of the manipulator, including those with prismatic motion, is represented by two finite elements in three-dimensional space. The prismatic links are treated as beams with moving boundary conditions, and the position of finite-element node points are not changed relative to the link. The equations are generated using Maple V, and the paper discusses a general approach for eliminating small terms. A sample calculation is performed for a RRP (Stanford arm) manipulator, and the shift of natural frequencies with time are plotted. Results are compared to those obtained by the assumed-mode method. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Dynamic Modeling of a Flexible Manipulator With Prismatic Links | |
type | Journal Paper | |
journal volume | 121 | |
journal issue | 4 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.2802536 | |
journal fristpage | 691 | |
journal lastpage | 696 | |
identifier eissn | 1528-9028 | |
keywords | Motion | |
keywords | Equations of motion | |
keywords | Finite element analysis | |
keywords | Boundary-value problems | |
keywords | Equations | |
keywords | Flexible manipulators | |
keywords | Frequency | |
keywords | Manipulators AND Dynamic modeling | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1999:;volume( 121 ):;issue: 004 | |
contenttype | Fulltext | |