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A planar flexible robotic manipulator

Víctor Orlando Gamarra‐Rosado (Division of Mechanical Engineering, College of Engineering – UNESP, Guaratinguetá, Brazil)

Kybernetes

ISSN: 0368-492X

Article publication date: 1 July 2000

Abstract

Presents the dynamic modelling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton‐Euler formulation and the finite element method, based on elementary beam theory, which is used to discretize the displacements such that the small motion is represented in terms of nodal displacements. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

Keywords

Citation

Orlando Gamarra‐Rosado, V. (2000), "A planar flexible robotic manipulator", Kybernetes, Vol. 29 No. 5/6, pp. 787-797. https://doi.org/10.1108/03684920010333206

Publisher

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MCB UP Ltd

Copyright © 2000, MCB UP Limited