Dynamic modelling and characterisation of a two-link flexible robot manipulator

• Main Authors: Khairudin, Mohammad, Mohamed, Zaharuddin, Husain, Abdul Rashid, Ahmad, Mohd. Ashraf
• Format: Article
• Published: Sage Journals 2010
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/25113/; http://dx.doi.org/10.1260/0263-0923.29.3.207

This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode method. Simulation is performed to assess the dynamic model and system responses at the hub and end-point of both links are presented and analysed in time and frequency domains. Moreover, effects of payload on the dynamic characteristics of the flexible manipulator are studied and discussed.