CONTRIBUTION TO THE DYNAMIC MODELING OF A SINGLE LINK FLEXIBLE MANIPULATOR

Abstract

This paper presents a rigid multibody approach for dynamic analysis of a single link flexible revolute manipulator. The multibody approach is based on the use of the modified Hencky bar-chain model of flexible beams. The flexible link of the manipulator is considered as a Timoshenko beam. According to this approach, the flexible link is replaced by a system consisting of massless rigid beams carrying lumped masses. The massless beams are connected through frictionless two-degrees of freedom joints with appropriate lateral and rotational springs in them. In the paper, the influence of the payload carrying by the manipulator on the system dynamics is also considered. The validity and accuracy of the approach presented are proven through the comparison with the results previously reported in the literature. It is shown that the rigid multibody system, by which the flexible link is replaced, allows the analysis of the coupling between rigid motion and small elastic deformation of the manipulator link.