Dynamic characterisation of a two-link flexible manipulator: theory and experiments
This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Techno-Press
2014
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| Online Access: | http://eprints.utm.my/59701/1/ZaharuddinMohamed2014_DynamicCharacterisationofaTwoLinkFlexible.pdf |
| _version_ | 1796860763593244672 |
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| author | Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi |
| author_facet | Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi |
| author_sort | Khairudin, M. |
| collection | ePrints |
| description | This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model. |
| first_indexed | 2024-03-05T19:46:09Z |
| format | Article |
| id | utm.eprints-59701 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T19:46:09Z |
| publishDate | 2014 |
| publisher | Techno-Press |
| record_format | dspace |
| spelling | utm.eprints-597012022-04-14T04:41:02Z http://eprints.utm.my/59701/ Dynamic characterisation of a two-link flexible manipulator: theory and experiments Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi TK Electrical engineering. Electronics Nuclear engineering This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model. Techno-Press 2014 Article PeerReviewed application/pdf en http://eprints.utm.my/59701/1/ZaharuddinMohamed2014_DynamicCharacterisationofaTwoLinkFlexible.pdf Khairudin, M. and Mohamed, Zaharuddin and Husain, Abdul Rashid and Mamat, Rosbi (2014) Dynamic characterisation of a two-link flexible manipulator: theory and experiments. Advances In Robotics Research, 1 (1). pp. 61-79. ISSN 2287-4976 http://dx.doi.org/10.12989/arr.2014.1.1.061 DOI:10.12989/arr.2014.1.1.061 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi Dynamic characterisation of a two-link flexible manipulator: theory and experiments |
| title | Dynamic characterisation of a two-link flexible manipulator: theory and experiments |
| title_full | Dynamic characterisation of a two-link flexible manipulator: theory and experiments |
| title_fullStr | Dynamic characterisation of a two-link flexible manipulator: theory and experiments |
| title_full_unstemmed | Dynamic characterisation of a two-link flexible manipulator: theory and experiments |
| title_short | Dynamic characterisation of a two-link flexible manipulator: theory and experiments |
| title_sort | dynamic characterisation of a two link flexible manipulator theory and experiments |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/59701/1/ZaharuddinMohamed2014_DynamicCharacterisationofaTwoLinkFlexible.pdf |
| work_keys_str_mv | AT khairudinm dynamiccharacterisationofatwolinkflexiblemanipulatortheoryandexperiments AT mohamedzaharuddin dynamiccharacterisationofatwolinkflexiblemanipulatortheoryandexperiments AT husainabdulrashid dynamiccharacterisationofatwolinkflexiblemanipulatortheoryandexperiments AT mamatrosbi dynamiccharacterisationofatwolinkflexiblemanipulatortheoryandexperiments |