Dynamic behaviors of a single flexible link manipulator under different driving rules
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Từ khóa:
Flexible link manipulator
nonlinear dynamic
elastic displacements
driving rules
dynamic behaviors
Tóm tắt
In this article, nonlinear dynamic modeling and investigation into the effects of different driving rules on dynamic behavior of a single flexible link manipulator are presented. Dynamic equations are derived from finite element method based on Lagrange approach.The effects of elastic displacements on robot motion make dynamic modeling and control become complicated by highly nonlinear characteristics. Besides, most studies have not clearly determined driving rule or the reason why the driving rule is selected. The results have important meanings to select reasonable driving rules for single flexible link manipulators with payload or not. Dynamic behaviors of the system are simulated like a specific example on Matlab/Simulink software.
Tài liệu tham khảo
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Dec 31, 2017
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Cách trích dẫn
Bien Xuan Duong, My Anh Chu, Lac Van Duong. “Dynamic Behaviors of a Single Flexible Link Manipulator under Different Driving Rules”. Tạp Chí Khoa học Và Công nghệ - Đại học Đà Nẵng, vol 12, số p.h 121, Tháng Chạp 2017, tr 6-10, https://jst-ud.vn/jst-ud/article/view/3239.
