Title :
Kinematic analysis of a single link flexible manipulator
Author :
Ata, Atef A. ; Haraz, Eman H. ; Rizk, Abd Elfattah A ; Hanna, Sarwat N.
Author_Institution :
Dept. of Eng. Math. & Phys., Alexandria Univ., Alexandria, Egypt
Abstract :
The present work investigates the dynamic analysis of a single link flexible manipulator with a tip mass using Tangential Coordinate System (TCS) and the Virtual Link Coordinate System (VLCS). The equations of motion are derived using the extended Hamilton´s Principle. A third order polynomial trajectory is designed in the joint space. Numerical analysis is carried out for both types of coordinate systems and the total deflection is compared for both types of the coordinate.
Keywords :
flexible manipulators; manipulator kinematics; motion control; polynomials; coordinate system; extended Hamilton principle; manipulator kinematic analysis; motion equation; numerical analysis; single link flexible manipulator; tangential coordinate system; third order polynomial trajectory; tip mass; total deflection; virtual link coordinate system; Equations; Length measurement; Manipulators; Shape;
Conference_Titel :
Industrial Technology (ICIT), 2012 IEEE International Conference on
Conference_Location :
Athens
Print_ISBN :
978-1-4673-0340-8
DOI :
10.1109/ICIT.2012.6210045
