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Date Published: 16/06/2018
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Issue
No. 127B (2018): Journal of Science and Technology 127B (2018)
Section
Research article

Dynamic Model of Flexible Link Manipulators with Translational and Rotational Joints

Xuan Bien Duong1, , My Anh Chu1, Bui Khoi Phan2
1 Military Technical Academy, No. 236, Hoang Quoc Viet, Cau Giay, Hanoi, Viet Nam
2 Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Viet Nam

Main Article Content

Abstract

In this paper, two nonlinear dynamic models of flexible manipulator with translational and rotational joints are formulated based on Finite Element Method (FEM). Dynamic equations of manipulators are derived by using Lagrange equations. The new model TR (Translational-Rotational) is developed based on single flexible link manipulator with only rotational joint. The difference between flexible manipulators which have only rotational joints and others with translational joint is presented in RT model. Dynamic behaviors of flexible manipulators are analyzed through values of joints variable and elastic displacements at the end-effector point. The numerical simulation results are calculated by using MATLAB/SIMULINK toolboxes. The results of this study play an important role in modeling generalized planar flexible two-link robot, in designing the control system and basing on select the suitable structure robot with the same request.

Keywords

elastic displacements, translational joint, Dynamic model, flexible link

Article Details

References

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