Determination of modes of vibration for accurate modelling of the flexibility effects on dynamics of a two link flexible manipulator

摘要

In this paper, the effect of flexibility on the dynamics of a two-link planar manipulator having two revolute joints is investigated. For this purpose, a mathematical model validated through experiments is obtained for a Two-link planar manipulator having two revolute joints. The mathematical model takes into account the continuous change of Eigen value due to change of configuration of the manipulator. A general expression for the frequency equation for the vibrating links has been obtained which is found to be time-dependent. The effect of this time-dependency of Eigen values of links on Joint and Tip responses is included in the assumed modes method. In this paper, the types of boundary conditions to be used for the flexible links are also researched upon and it is proposed that first four modes of vibration should be used for exactly modelling the flexible links.