Dynamic Modeling of Planar Multi-Link Flexible Manipulators
A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-05-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/2/70 |
| _version_ | 1797534529534033920 |
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| author | Dipendra Subedi Ilya Tyapin Geir Hovland |
| author_facet | Dipendra Subedi Ilya Tyapin Geir Hovland |
| author_sort | Dipendra Subedi |
| collection | DOAJ |
| description | A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation. |
| first_indexed | 2024-03-10T11:31:50Z |
| format | Article |
| id | doaj.art-8c782dd636794af08d09daa6658a3d5f |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T11:31:50Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-8c782dd636794af08d09daa6658a3d5f2023-11-21T19:13:52ZengMDPI AGRobotics2218-65812021-05-011027010.3390/robotics10020070Dynamic Modeling of Planar Multi-Link Flexible ManipulatorsDipendra Subedi0Ilya Tyapin1Geir Hovland2Department of Engineering Sciences, University of Agder, 4879 Grimstad, NorwayDepartment of Engineering Sciences, University of Agder, 4879 Grimstad, NorwayDepartment of Engineering Sciences, University of Agder, 4879 Grimstad, NorwayA closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.https://www.mdpi.com/2218-6581/10/2/70flexibilitymodelingroboticsvibrationmodesoscillation |
| spellingShingle | Dipendra Subedi Ilya Tyapin Geir Hovland Dynamic Modeling of Planar Multi-Link Flexible Manipulators Robotics flexibility modeling robotics vibration modes oscillation |
| title | Dynamic Modeling of Planar Multi-Link Flexible Manipulators |
| title_full | Dynamic Modeling of Planar Multi-Link Flexible Manipulators |
| title_fullStr | Dynamic Modeling of Planar Multi-Link Flexible Manipulators |
| title_full_unstemmed | Dynamic Modeling of Planar Multi-Link Flexible Manipulators |
| title_short | Dynamic Modeling of Planar Multi-Link Flexible Manipulators |
| title_sort | dynamic modeling of planar multi link flexible manipulators |
| topic | flexibility modeling robotics vibration modes oscillation |
| url | https://www.mdpi.com/2218-6581/10/2/70 |
| work_keys_str_mv | AT dipendrasubedi dynamicmodelingofplanarmultilinkflexiblemanipulators AT ilyatyapin dynamicmodelingofplanarmultilinkflexiblemanipulators AT geirhovland dynamicmodelingofplanarmultilinkflexiblemanipulators |