Chapter 3
Modeling of Flexible Manipulators
Chapter Outline
3.2. Problem Description and Energy Calculations
3.2.2. Kinetic Energy of the Beam
3.2.3. Kinetic Energy of the Tip Load
3.2.5. Work Done by External Forces
3.3. Derivation of Equations of Motion
3.3.1. Euler–Bernoulli Beam Model Derivation
Variation with Respect to Variable θ
Variation with Respect to Variable w
3.3.2. Equations of Motion for Euler–Bernoulli Beam Model
3.3.3. Timoshenko Beam Model Derivation
Variation with Respect to Variable θ
Variation with Respect to Variable w
Variation with Respect to Variable φ
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