An explicit, complete, and accurate dynamic model for lightweight flexible arms is presented. A planar two-link flexible arm with rotary joints subject only to bending deformations in the plane of motion is considered (torsional effects are neglected). A payload is added at the tip of the outer link, while hub inertias are included at the actuated joints. Links are modeled as Euler-Bernoulli beams of uniform density with clamped-mass boundary conditions. A finite-dimensional model of link flexibility is obtained with two assumed modes for each link. The standard Lagrangian approach is followed, and the resulting dynamic equations are given.
Explicit dynamic modeling of a planar two-link flexible manipulator / A., De Luca; Siciliano, Bruno. - STAMPA. - 2:(1990), pp. 528-530. (Intervento presentato al convegno IEEE Conference on Decision and Control tenutosi a Honolulu, HI nel December) [10.1109/CDC.1990.203652].
Explicit dynamic modeling of a planar two-link flexible manipulator
SICILIANO, BRUNO
1990
Abstract
An explicit, complete, and accurate dynamic model for lightweight flexible arms is presented. A planar two-link flexible arm with rotary joints subject only to bending deformations in the plane of motion is considered (torsional effects are neglected). A payload is added at the tip of the outer link, while hub inertias are included at the actuated joints. Links are modeled as Euler-Bernoulli beams of uniform density with clamped-mass boundary conditions. A finite-dimensional model of link flexibility is obtained with two assumed modes for each link. The standard Lagrangian approach is followed, and the resulting dynamic equations are given.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
