Dynamics of Flexible Manipulators
Publish place: International Journal of Engineering (IJE)، Vol: 7، Issue: 1
Publish Year: 1373
نوع سند: مقاله ژورنالی
زبان: English
View: 97
This Paper With 14 Page And PDF Format Ready To Download
- Certificate
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
JR_IJE-7-1_004
تاریخ نمایه سازی: 19 اسفند 1400
Abstract:
This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one and two link flexible arms, and the resulting dynamic equations are solved and thoroughly discussed. In addition, both methods are compared in the sense of modeling and the required time and accuracy for computation.
Keywords:
Authors
M. Ghassempouri
Mechanical Engineering, Sharif University of Technology
Ali Meghdari
School of Mechanical Engineering, Sharif Unoiversity of Technology