Modelling of a two link flexible manipulator
Flexible manipulator systems exhibit many advantages over their traditional (rigid-arm) counterparts. However, they have not been favoured in production industries due to its obvious disadvantages in controlling the manipulator. Therefore, this thesis presents theoretical investigation into the dyna...
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| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Published: |
2007
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/21997/ |
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| Summary: | Flexible manipulator systems exhibit many advantages over their traditional (rigid-arm) counterparts. However, they have not been favoured in production industries due to its obvious disadvantages in controlling the manipulator. Therefore, this thesis presents theoretical investigation into the dynamic modelling and characterisation of a flexible manipulator system. A constrained two-link flexible manipulator is considered that moves in horizontal plane only. A mathematical model of the system is developed based on finite element method. The final derived model of the system is simulated to investigate the behaviours of the system. |
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