Modelling Flexible Manipulators With Motors at the Joints.

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Bibliographic Details
Title:	Modelling Flexible Manipulators With Motors at the Joints.
Authors:	Bascetta, L., Rocco, P.
Source:	Mathematical & Computer Modelling of Dynamical Systems. Jun2002, Vol. 8 Issue 2, p157. 27p.
Subjects:	Kinematics of machinery, Links & link-motion, Dynamics, Mathematical models
Abstract:	A computationally efficient recursive model of a flexible manipulator withmotors at the joints is described in this paper. The model adopts a mixedEulerian and Lagrangian formulation of the equations of a flexible body andexploits the chained structure of the equations for a serial manipulator.The dynamic effects of the motors at the joints, including gyroscopic terms,are fully taken into account. Symbolic manipulation is used in a newly developedpackage, whose performance in detailed reproduction of the dynamic effectsdue to the interplay between the motors and the flexible links is assessedthrough simulation. A comparison between the complete model and a simplifiedone, where the motors are considered as simple inertias rotating around theirown axis, has been carried out, using both a time domain analysis and a frequencydomain analysis, in order to show the relevance of gyroscopic effects in modellingflexible robots. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

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