Abstract
This paper deals with the system mode analysis of horizontal vibration for 3-D two-link flexible manipulators. For the analysis, we formulate and solve a set of partial differential equations which represent vibration mixed with bending and torsional moment. The inclusion of torsional vibration complicates the analysis, but the results are more precise and realistic. We obtain a number of geometrical and dynamical boundary conditions depending on manipulator configuration. There are two possible boundary conditions at the rotary joint: clamped and pinned with spring condition. We perform a examination and comparison between the two joint conditions. Numerical and experimental tests show the validity and effectiveness of the proposed analysis and modelling.
| Original language | English |
|---|---|
| Pages (from-to) | 49-70 |
| Number of pages | 22 |
| Journal | Journal of Sound and Vibration |
| Volume | 268 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2003 Nov 13 |
| Externally published | Yes |
ASJC Scopus subject areas
- Condensed Matter Physics
- Mechanics of Materials
- Acoustics and Ultrasonics
- Mechanical Engineering