Title :
Influence of shear, rotary inertia on the dynamic characteristics of flexible manipulators
Author :
Wang, Dalong ; Meng, Max ; Liu, Yan
Author_Institution :
Dept. of Electr. & Comput. Eng., Alberta Univ., Edmonton, Alta., Canada
Abstract :
The influence of shear, rotary inertia on the dynamic characteristics of flexible manipulators is studied through frequency analysis. In terms of the various geometric effects, dynamic models of flexible manipulators are set up and characteristic equations are derived. By using the analysis, the influences of shear, rotary inertia, axial force on the flexible manipulator are given
Keywords :
distributed parameter systems; flexible manipulators; manipulator dynamics; axial force; characteristic equations; dynamic characteristics; dynamic models; frequency analysis; geometric effects; shear rotary inertia; Deformable models; Energy consumption; Equations; Frequency; Manipulator dynamics; Nonlinear dynamical systems; Payloads; Robots; Solid modeling; Subspace constraints;
Conference_Titel :
Communications, Computers and Signal Processing, 1999 IEEE Pacific Rim Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-5582-2
DOI :
10.1109/PACRIM.1999.799613
