Dynamic modelling of a two-link flexible manipulator

• Main Author: Ishak, Mohamad Hafis Izran
• Format: Thesis
• Language: English
• Published: 2005
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/5149/1/MohamadHafisIzranIshakMFKE2005.pdf; http://eprints.utm.my/id/eprint/5149/

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.