Vibration Analysis of Cracked Cantilever Beam type Serial Manipulator

摘要

In the present study, free vibration of rectangular cracked cantilever beam type serial manipulator is analyzed theoretically by finite element method. The effect of crack on the natural frequency and mode shape is presented. The cantilever beam type serial manipulator sometimes involves a point mass at free end. For the analysis of a serial manipulator overall additional flexibility matrix is added in the flexibility matrix of non-cracked beam in place of local flexibility matrix. Elements of the overall flexibility matrix are calculated using 128-point Gauss quadrature method. Results are plotted for frequency reduction ratio with the crack depth and crack position along the axis of the shaft.