Effects of System Parameters and Controlled Torque on the Dynamics of Rigid-Flexible Robotic Manipulator

Abstract

This work illustrates the effects of various system parameters on the dynamics of flexible link of revolute-jointed rigid-flexible manipulator. Flexible link is considered as a Euler-Bernoulli beam and finite element based on Langrange approach is employed for dynamic analysis. A comparative study is carried out for comparative dynamic response for the variation of system parameters and controlled torque excitation.