Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions
In this paper, based on the VoigtKelvin constitutive model, nonlinear dynamic modelling and state space representation of a viscoelastic beam acting as a flexible robotic manipulator is investigated. Complete nonlinear dynamic modelling of a viscoelastic beam without premature linearisation of dynam...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Stellenbosch University
2013-05-01
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| Series: | South African Journal of Industrial Engineering |
| Subjects: | |
| Online Access: | http://sajie.journals.ac.za/pub/article/view/652 |
| _version_ | 1818128956355772416 |
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| author | Esfandiar, H. Daneshmand, S. |
| author_facet | Esfandiar, H. Daneshmand, S. |
| author_sort | Esfandiar, H. |
| collection | DOAJ |
| description | In this paper, based on the VoigtKelvin constitutive model, nonlinear dynamic modelling and state space representation of a viscoelastic beam acting as a flexible robotic manipulator is investigated. Complete nonlinear dynamic modelling of a viscoelastic beam without premature linearisation of dynamic equations is developed. The adopted method is capable of reproducing nonlinear dynamic effects, such as beam stiffening due to centrifugal and Coriolis forces induced by rotation of the joints. Structural damping effects on the models dynamic behaviour are also shown. A reliable model for a viscoelastic beam is subsequently presented. The governing equations of motion are derived using Hamiltons principle, and using the finite difference method, nonlinear partial differential equations are reduced to ordinary differential equations. For the purpose of flexible manipulator control, the standard form of state space equations for the viscoelastic link and the actuator is obtained. Simulation results indicate substantial improvements in dynamic behaviour, and a parameter sensitivity study is carried out to investigate the effect of structural damping on the vibration amplitude. |
| first_indexed | 2024-12-11T07:41:29Z |
| format | Article |
| id | doaj.art-fd68131980a4424e961d020d45bea1ba |
| institution | Directory Open Access Journal |
| issn | 1012-277X 2224-7890 |
| language | English |
| last_indexed | 2024-12-11T07:41:29Z |
| publishDate | 2013-05-01 |
| publisher | Stellenbosch University |
| record_format | Article |
| series | South African Journal of Industrial Engineering |
| spelling | doaj.art-fd68131980a4424e961d020d45bea1ba2022-12-22T01:15:34ZengStellenbosch UniversitySouth African Journal of Industrial Engineering1012-277X2224-78902013-05-0124113615110.7166/24-1-652Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditionsEsfandiar, H.0Daneshmand, S.1Islamic Azad UniversityIslamic Azad UniversityIn this paper, based on the VoigtKelvin constitutive model, nonlinear dynamic modelling and state space representation of a viscoelastic beam acting as a flexible robotic manipulator is investigated. Complete nonlinear dynamic modelling of a viscoelastic beam without premature linearisation of dynamic equations is developed. The adopted method is capable of reproducing nonlinear dynamic effects, such as beam stiffening due to centrifugal and Coriolis forces induced by rotation of the joints. Structural damping effects on the models dynamic behaviour are also shown. A reliable model for a viscoelastic beam is subsequently presented. The governing equations of motion are derived using Hamiltons principle, and using the finite difference method, nonlinear partial differential equations are reduced to ordinary differential equations. For the purpose of flexible manipulator control, the standard form of state space equations for the viscoelastic link and the actuator is obtained. Simulation results indicate substantial improvements in dynamic behaviour, and a parameter sensitivity study is carried out to investigate the effect of structural damping on the vibration amplitude.http://sajie.journals.ac.za/pub/article/view/652Nonlinear dynamic analysisstate space representationmanipulatorsviscoelastic material conditions |
| spellingShingle | Esfandiar, H. Daneshmand, S. Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions South African Journal of Industrial Engineering Nonlinear dynamic analysis state space representation manipulators viscoelastic material conditions |
| title | Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions |
| title_full | Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions |
| title_fullStr | Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions |
| title_full_unstemmed | Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions |
| title_short | Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions |
| title_sort | nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions |
| topic | Nonlinear dynamic analysis state space representation manipulators viscoelastic material conditions |
| url | http://sajie.journals.ac.za/pub/article/view/652 |
| work_keys_str_mv | AT esfandiarh nonlineardynamicanalysisandstatespacerepresentationofamanipulatorunderviscoelasticmaterialconditions AT daneshmands nonlineardynamicanalysisandstatespacerepresentationofamanipulatorunderviscoelasticmaterialconditions |