Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload
This paper presents dynamic modelling of a twolink flexible manipulator based on closed-form equations of motion. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. The Lagrangian appro...
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2008
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| Online Access: | http://umpir.ump.edu.my/id/eprint/2441/ http://umpir.ump.edu.my/id/eprint/2441/ http://umpir.ump.edu.my/id/eprint/2441/1/Dynamic_Modelling_of_a_Two-link_Flexible.pdf |
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ump-24412018-02-07T00:54:33Z http://umpir.ump.edu.my/id/eprint/2441/ Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload Mohd Ashraf, Ahmad TK Electrical engineering. Electronics Nuclear engineering This paper presents dynamic modelling of a twolink flexible manipulator based on closed-form equations of motion. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. The Lagrangian approach is used to derive the dynamic model of the structure. Links are modelled as Euler-Bernoulli beams with proper clamped-mass boundary conditions. A dynamic model of the system, incorporating structural damping, hub inertia and payload, is developed using finite assumed mode methods. Explicit equations of motions are detailed by assuming two modes of vibration for each link. Moreover, effects of payload on the response of the flexible manipulator are discussed. Extensive results that validate the theoretical derivation are presented in the time and frequency domains. 2008 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2441/1/Dynamic_Modelling_of_a_Two-link_Flexible.pdf Mohd Ashraf, Ahmad (2008) Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload. In: 3rd IEEE Conference on Industrial Electronics and Applications, 2008. ICIEA 2008, 3-5 June 2008 , Singapore. 96 -101 .. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=4582658&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3D3rd+IEEE+Conference+on+Industrial+Electronics+and+Applications%2C+2008.+ICIEA+2008 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
Universiti Malaysia Pahang |
| building |
UMP Institutional Repository |
| collection |
Online Access |
| language |
English |
| topic |
TK Electrical engineering. Electronics Nuclear engineering |
| spellingShingle |
TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload |
| description |
This paper presents dynamic modelling of a twolink
flexible manipulator based on closed-form equations of
motion. The kinematic model is based on standard frame
transformation matrices describing both rigid rotation and
modal displacement, under small deflection assumption. The
Lagrangian approach is used to derive the dynamic model of
the structure. Links are modelled as Euler-Bernoulli beams
with proper clamped-mass boundary conditions. A dynamic
model of the system, incorporating structural damping, hub
inertia and payload, is developed using finite assumed mode
methods. Explicit equations of motions are detailed by
assuming two modes of vibration for each link. Moreover,
effects of payload on the response of the flexible manipulator are discussed. Extensive results that validate the theoretical derivation are presented in the time and frequency domains.
|
| format |
Conference or Workshop Item |
| author |
Mohd Ashraf, Ahmad |
| author_facet |
Mohd Ashraf, Ahmad |
| author_sort |
Mohd Ashraf, Ahmad |
| title |
Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload
|
| title_short |
Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload
|
| title_full |
Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload
|
| title_fullStr |
Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload
|
| title_full_unstemmed |
Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload
|
| title_sort |
dynamic modelling of a two-link flexible manipulator system incorporating payload |
| publishDate |
2008 |
| url |
http://umpir.ump.edu.my/id/eprint/2441/ http://umpir.ump.edu.my/id/eprint/2441/ http://umpir.ump.edu.my/id/eprint/2441/1/Dynamic_Modelling_of_a_Two-link_Flexible.pdf |
| first_indexed |
2023-09-18T21:56:14Z |
| last_indexed |
2023-09-18T21:56:14Z |
| _version_ |
1777414097630920704 |