Dynamic Modelling and Simulation of Two-link Flexible Robot Using Rayleigh Beam Theory

Abstract

This research presents a dynamic model of a planar multi-link flexible manipulator. The Lagrangian formulation with the assumed modes method is used to obtain the dynamic equations of motion. Rayleigh beam theory with clamped-mass boundary conditions is used to model the structural flexibility in the links. Equations of motion are developed for a two-link case considering two vibration modes for each link. The eigenvalue problem associated with the mass boundary conditions, which change with the robot payload, is discussed. Finally, the time domain simulation results of the dynamic model of the manipu-lator are presented to show the dynamic behavior of a two-link flexible manipulator.