Dynamic modeling and mode analysis of flexible-link, flexible-joint robots

Degao Li, Jean W. Zu, Andrew A. Goldenberg

Research output: Contribution to journalArticlepeer-review

30 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)1031-1044
Number of pages14
JournalMechanism and Machine Theory
Volume33
Issue number7
DOIs
StatePublished - 1 Oct 1998

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