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    Dynamic Modeling of a Flexible Manipulator With Prismatic Links

    Source: Journal of Dynamic Systems, Measurement, and Control:;1999:;volume( 121 ):;issue: 004::page 691
    Author:
    B. J. Torby
    ,
    I. Kimura
    DOI: 10.1115/1.2802536
    Publisher: The American Society of Mechanical Engineers (ASME)
    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.
    keyword(s): Motion , Equations of motion , Finite element analysis , Boundary-value problems , Equations , Flexible manipulators , Frequency , Manipulators AND Dynamic modeling ,
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      Dynamic Modeling of a Flexible Manipulator With Prismatic Links

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    http://yetl.yabesh.ir/yetl1/handle/yetl/121874
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorB. J. Torby
    contributor authorI. Kimura
    date accessioned2017-05-08T23:59:08Z
    date available2017-05-08T23:59:08Z
    date copyrightDecember, 1999
    date issued1999
    identifier issn0022-0434
    identifier otherJDSMAA-26260#691_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/121874
    description abstractIn 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.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDynamic Modeling of a Flexible Manipulator With Prismatic Links
    typeJournal Paper
    journal volume121
    journal issue4
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2802536
    journal fristpage691
    journal lastpage696
    identifier eissn1528-9028
    keywordsMotion
    keywordsEquations of motion
    keywordsFinite element analysis
    keywordsBoundary-value problems
    keywordsEquations
    keywordsFlexible manipulators
    keywordsFrequency
    keywordsManipulators AND Dynamic modeling
    treeJournal of Dynamic Systems, Measurement, and Control:;1999:;volume( 121 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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