|Series||Canadian theses = Thèses canadiennes|
|The Physical Object|
After a general overview of flexible manipulators the book introduces a range of modelling and simulation techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, neuro-modelling approaches, and numerical techniques for dynamic characterisation using finite difference and finite element by: In book: Flexible Manipulators (pp) a finite element/Lagrangian approach for the mathematical modeling of lightweight flexible manipulators. differential equation model and the. Flexible Manipulators using Finite Element Method J. Jafari, M. Mirzaie, M. Zandbaf Department of Mechanics, Damavand Branch, Islamic Azad University, Damavand, Iran. @ Abstract By the current research, mathematical modeling and dynamic analysis of flexible manipulators are presented based on finite element method. Abstract In conventional finite element-Lagrangian methods, the dynamics model of a flexible robot is usually formulated based on a critical assumption that the kinetic energy of an element .
A constrained planar single-link flexible manipulator is considered. A dynamic model of the system, incorporating structural damping, hub inertia and payload, is developed using finite element methods. Effects of damping and payload on the response of the flexible manipulator are discussed. A redundant Lagrangian/finite element approach is proposed to model the dynamics of lightweight spatial manipulators with both flexible links and joints. The links are assumed to be deformable due to bending and torsion. The elastic deformations of each link are expressed in its tangential (clamped free) local floating frame. This paper relates recent results obtained in the field of modelling and control of flexible link manipulators and proposes an investigation of the problem raised by this type of systems (at least in the planar case). First, adopting the modal floating frame approach and the Newton–Euler formalism, we propose an extension of the models for control to the case of fast dynamics and finite. ^ Best Book Flexible Multibody Dynamics A Finite Element Approach ^ By Karl May, modelling of flexible bodies is treated following the finite element technique a novel aspect in multibody systems simulation moreover this book provides extensive coverage of the formulation of a.
In this paper, dynamic modeling and path planning of flexible-link manipulators are presented. Each link of flexible manipulator is modeled by finite number of elements, and the displacement of element is formulated based on nodal coordinates and shape functions of beam element. Modelling of Flexible Link Manipulators. simplest choice of the finite element interpolations for a 2-node three-dimensional beam element. algorithms as applied to flexible multibody. For the mathematical modeling of a two-link flexible manipulator, a finite element method and Lagrangian approach is utilized . Initially a mathematical model is derived for a single-link. In this section the literature related to the modeling of single flexible link manipulators is discussed and the contributions are grouped under the categories assumed mode method, finite element method, lumped parameter models and other studies. In the assumed mode models also the works with distributed parameter models are included.