DYNAMIC MODELLING OF TWO LINK FLEXIBLE MANIPULATOR USING LAGRANGIAN ASSUMED MODES METHOD

摘要

In this paper, a mathematical model of two link flexible manipulator is presented. The model is prepared using Lagrangian-assumed modes method. The links are modelled as Euler-Bernoulli beams. A literature survey containing the work done by various authors in the area of flexible robotics is provided. A general expression for the frequency equation for the vibrating links is obtained which is found to be time-dependent. The effect of payload on the natural frequencies of the links is studied. Simulation results are obtained using both forward and inverse dynamics. The results thus obtained are compared with that found in the literature.