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On the flexural vibrations of elastic manipulators with prismatic joints

✍ Scribed by Ş. Yüksel; M. Gürgöze

Book ID
104268802
Publisher
Elsevier Science
Year
1997
Tongue
English
Weight
797 KB
Volume
62
Category
Article
ISSN
0045-7949

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✦ Synopsis

The aim of this paper is to investigate the flexural vibrations of an axially moving robotic arm sliding through a prismatic joint while the joint is undergoing both vertical translation and rotary motion.

Considering not only Euler-Bernoulli beam assumption but also the effects of gravitation, rotary inertia and axial force, the equations of motion and associated boundary conditions of the dynamic model are derived by using the extended Hamilton's principle. Since they form a complex boundary value problem which cannot be solved analytically, the assumed modes method is utilized to obtain an approximate solution. Simulation results are presented for some typical kinematical inputs.

📜 SIMILAR VOLUMES

VIBRATIONAL MOTION OF AN ELASTIC BEAM WI
VIBRATIONAL MOTION OF AN ELASTIC BEAM WITH PRISMATIC AND REVOLUTE JOINTS
✍ B.O. Al-Bedoor; Y.A. Khulief 📂 Article 📅 1996 🏛 Elsevier Science 🌐 English ⚖ 415 KB

A dynamic model for the vibrational motion of an elastic beam with prismatic and revolute joints is presented. The Lagrangian approach in conjunction with the assumed modes technique is employed in deriving the equations of motion. The model developed accounts for all the dynamic coupling terms, as