FLEXURAL VIBRATION OF AN ORTHOTROPIC ROTATING SHAFT MOVING OVER SUPPORTS

摘要

The equation of motion of an orthotropic rotating shaft moving longitudinally over supports is formulated by using Hamilton's principle and the assumed mode method. The present study is motivated by the dynamic analysis of robotic manipulators with prismatic joints, and combinations of direct drive actuators which can set a robot arm in translation, spinning and rotation. The support is modelled as a spring of large stiffness. Numerical simulations are performed for a rotating shaft undergoing a sinusoidal longitudinal motion over a single support. The responses are found to be in excellent agreement with the reported results for a non-rotating shaft. [References: 26]