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VIBRATION EIGENFREQUENCY ANALYSIS OF A SINGLE-LINK FLEXIBLE MANIPULATOR

✍ Scribed by M.P. Coleman

Publisher: Elsevier Science
Year: 1998
Tongue: English
Weight: 194 KB
Volume: 212
Category: Article
ISSN: 0022-460X
DOI: 10.1006/jsvi.1997.1426

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✦ Synopsis

We analyse the vibration eigenfrequencies of a flexible slewing beam with a payload attached at one end. A wave propagation method (WPM) is used. There are four types of waves which propagate along a beam-two dispersive waves travelling in opposite directions, and two evanescent waves near the endpoints. We add a fifth time-harmonic function corresponding to oscillation of the beam at the payload end. We show that the large frequencies are asymptotically identical to those for the clamped-free beam, independent of the payload. For small eigenfrequencies, we incorporate WPM with a perturbation iteration procedure, the results of which agree well with ''exact'' values which result from solving a transcendental equation cited elsewhere in the literature.

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