TY - JOUR
T1 - Dynamic modeling and mode analysis of flexible-link, flexible-joint robots
AU - Li, Degao
AU - Zu, Jean W.
AU - Goldenberg, Andrew A.
PY - 1998/10/1
Y1 - 1998/10/1
N2 - This paper presents a systematic approach to dynamic modeling and mode analysis of a single-link flexible robot, which has a flexible joint and a hub at the base end and a payload at the free end. Accurate modes of the system are obtained analytically. The following important conclusions are drawn: (1) even a small joint flexibility can significantly affect the system frequencies; (2) the fundamental frequency is insensitive to the hub inertia or payload inertia; (3) for a given flexible system, the fundamental frequency is mainly affected by the payload mass, while the second frequency is mainly affected by the payload inertia.
AB - This paper presents a systematic approach to dynamic modeling and mode analysis of a single-link flexible robot, which has a flexible joint and a hub at the base end and a payload at the free end. Accurate modes of the system are obtained analytically. The following important conclusions are drawn: (1) even a small joint flexibility can significantly affect the system frequencies; (2) the fundamental frequency is insensitive to the hub inertia or payload inertia; (3) for a given flexible system, the fundamental frequency is mainly affected by the payload mass, while the second frequency is mainly affected by the payload inertia.
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U2 - 10.1016/S0094-114X(97)00054-2
DO - 10.1016/S0094-114X(97)00054-2
M3 - Article
AN - SCOPUS:0032183903
SN - 0094-114X
VL - 33
SP - 1031
EP - 1044
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
IS - 7
ER -