Modelling of a flexible robot manipulator using finite element methods: A symbolic approach

作     者：Tokhi, M.O. Mohamed, Z. Hashim, A.W.I. 

作者机构：Department of Automatic Control and Systems Engineering The University of Sheffield UK Faculty of Electrical Engineering University Teknologi Malaysia Malaysia 

出 版 物：《Journal of Low Frequency Noise Vibration and Active Control》 (J. Low Freq. Noise Vib. Act. Control)

年 卷 期：1999年第18卷第2期

页      面：63-76页

学科分类：07[理学] 08[工学] 070206[理学-声学] 1002[医学-临床医学] 0707[理学-海洋科学] 082403[工学-水声工程] 0708[理学-地球物理学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0813[工学-建筑学] 0802[工学-机械工程] 0824[工学-船舶与海洋工程] 0814[工学-土木工程] 0825[工学-航空宇航科学与技术] 0704[理学-天文学] 0702[理学-物理学] 0801[工学-力学（可授工学、理学学位）] 

摘      要：This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulator is considered. A simulation algorithm of the system is developed using a symbolic language which enables system characterisation with varying parameters. Analyses and investigations in terms of system transfer function, stability, response and endpoint vibration to an input command are presented. An assessment of the performance of the approach is presented and discussed through numerical simulations.