Title :
Dynamic effects of rotatory inertia and shear deformation on flexible manipulators
Author :
Wang, Fei-Yue ; Zhou, Pixuan ; Lever, Paul
Author_Institution :
Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA
Abstract :
This paper presents a comprehensive study on the influence of rotatory inertia, shear deformation, and tip load on the dynamic behaviors of one-link flexible manipulators. Two types of dynamic models, Euler-Bernoulli model with rotatory inertia and Timoshenko model, have been established and used in the analysis of modal frequencies and vibration modes. Explicit expressions of both step responses and transfer functions of flexible manipulators are obtained
Keywords :
flexible structures; manipulator dynamics; manipulator kinematics; nonlinear dynamical systems; shear deformation; step response; transient response; Euler-Bernoulli model; Timoshenko model; dynamic models; flexible manipulators; kinematics; nonlinear dynamical systems; rotatory inertia; shear deformation; step responses; transfer functions; vibration modes; Equations; Frequency; Geology; Kinematics; Kinetic energy; Liquid crystal on silicon; Manipulator dynamics; Tires;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.565530
