Preliminaries on Dynamic Modelling of Flexible Manipulators
F1exible manipulators, due to their applicability in performing complex tasks, where their rigid link counterparts underperform, are gaining importance. However, the dynamics of flexible manipulators are not fully understood owing to their complex non-linear behaviour. In the current work, we propos...
Saved in:
| Published in: | 2019 Sixth Indian Control Conference (ICC) pp. 356 - 360 |
|---|---|
| Main Authors: | , , |
| Format: | Conference Proceeding |
| Language: | English |
| Published: |
IEEE
01-12-2019
|
| Online Access: | Get full text |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | F1exible manipulators, due to their applicability in performing complex tasks, where their rigid link counterparts underperform, are gaining importance. However, the dynamics of flexible manipulators are not fully understood owing to their complex non-linear behaviour. In the current work, we propose a comprehensive 6 degrees-of-freedom finite element method based framework to model the dynamics of flexible manipulators. The predictions of the model, when applied for a simple cantilever beam, shows a good match with theoretical results. For further validation, a simple experimental setup was developed that emulates a flexible manipulator. The comparison results that experimental results closely match the predictions of the model, thus validating the modelling framework. |
|---|---|
| DOI: | 10.1109/ICC47138.2019.9123195 |