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Titolo:
A perturbation method for dynamic analysis and simulation of flexible manipulators
Autore:
Jonker, JB; Aarts, RGKM;
Indirizzi:
Univ Twente, Dept Mech Engn, NL-7500 AE Enschede, Netherlands Univ TwenteEnschede Netherlands NL-7500 AE 500 AE Enschede, Netherlands
Titolo Testata:
MULTIBODY SYSTEM DYNAMICS
fascicolo: 3, volume: 6, anno: 2001,
pagine: 245 - 266
SICI:
1384-5640(2001)6:3<245:APMFDA>2.0.ZU;2-Z
Fonte:
ISI
Lingua:
ENG
Soggetto:
ELASTIC MECHANISM SYSTEMS;
Keywords:
finite element modeling; perturbation method; SPACER/SIMULINK interface; flexible manipulator; closed-loop trajectory control;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
25
Recensione:
Indirizzi per estratti:
Indirizzo: Jonker, JB Univ Twente, Dept Mech Engn, POB 217, NL-7500 AE Enschede, Netherlands Univ Twente POB 217 Enschede Netherlands NL-7500 AE etherlands
Citazione:
J.B. Jonker e R.G.K.M. Aarts, "A perturbation method for dynamic analysis and simulation of flexible manipulators", MULTIB S D, 6(3), 2001, pp. 245-266

Abstract

This paper presents a perturbation method for the dynamic simulation of flexible manipulators. In this method the vibrational motion of the manipulator is modeled as a first-order perturbation of the nominal rigid link motion. For that purpose the flexible dynamic model is split into two parts. A rigidified system describes the nominal rigid link motion of the manipulator. A linear system linearized about the nominal trajectory describes the vibrational motion. These equations are computationally more efficient than the non-linear dynamic equations and offer more insight in the dynamic phenomena of the system. The method is based on a full non-linear finite element formulation which treats the general case of coupled large displacements motion and small elastic motion. A planar one link manipulator and a spatial two link manipulator with flexible links are used for case studies. A comparison is made between the non-linear and the perturbation analyzes. The perturbation method appears to be a very efficient approach for dynamic analyzes of flexible manipulators and yields accurate results even for systems with low frequency elastic modes.

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Documento generato il 25/09/20 alle ore 09:53:48