Dynamic modelling of a two-link flexible manipulator
Flexible manipulator systems exhibit many advantages over their traditionala (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 dyn...
محفوظ في:
| المؤلف الرئيسي: | |
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| التنسيق: | أطروحة |
| اللغة: | English |
| منشور في: |
2005
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| الموضوعات: | |
| الوصول للمادة أونلاين: | http://eprints.utm.my/id/eprint/5149/1/MohamadHafisIzranIshakMFKE2005.pdf http://eprints.utm.my/id/eprint/5149/ |
| الوسوم: |
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| الملخص: | Flexible manipulator systems exhibit many advantages over their traditionala (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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