Mathematical Methods in Dynamical Systems

10Dynamics of Slender Single-Link Flexible Robotic Manipulator Based on Timoshenko Beam Theory

Priya Rao, S. Chakraverty and Debanik Roy

DOI: 10.1201/9781003328032-10

Contents

• 10.1 Introduction

• 10.2 Preliminaries

  • 10.2.1 Joints [25]

    • 10.2.1.1 Revolute Joint

    • 10.2.1.2 Prismatic Joint

  • 10.2.2 Manipulator [26]

  • 10.2.3 Cantilever Beam [20]

  • 10.2.4 Bending Moment [27]

  • 10.2.5 Boundary Conditions for Beam [20]

• 10.3 Theoretical Analysis

  • 10.3.1 Mathematical Modelling

  • 10.3.2 Modal Analysis

• 10.4 Formation of Eigenvalue Problem for Single-Link Manipulator

• 10.5 Numerical Results and Discussions

• 10.6 Conclusions

• References

10.1 INTRODUCTION

The successive progeny of flexible manipulators has established its mantle through great applications in real ...