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COMMENTS ON “JOINT STIFFNESS CONTROL OF A ONE-LINK FLEXIBLE ARM”

✍ Scribed by K.H. Low

Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
120 KB
Volume
211
Category
Article
ISSN
0022-460X

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✦ Synopsis

In a recent article [1], Pun and Semercigil successfully applied a joint variable stiffness control (VSC) scheme to a one-link flexible arm. A standard finite element method was used to discretize the continuous system and produce global matrices. The Newmark-b method was applied to integrate the global matrices. The numerical results of the joint angle and the tip deflection were presented [1] as surface plots for varying payload mass, link length, joint stiffness and damping. Pun and Semercigil also demonstrated the effectiveness of VSC in suppressing the transient vibration of the one-link flexible arm. In this note, aspects of the numerical integration and the boundary condition on the flexible arm will be discussed. Frequency equation. The frequency equation of a flexible slewing link can be written in a dimensionless form [2, 3] (see reference [3] for symbols and illustration) (csh -sch) -2a 1 l ssh -b 0 l 3 (1 + cch) -2b 1 l 3 cch -a 1 l 4 (b 0 + b 1 )(csh -sch)

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