Vibration analysis of an elastic robot manipulator with prismatic joint and a time-varying end mass

الملخص EN

in this study, vibration analysis of an elastic robot arm sliding in a rotating prismatic joint is investigated.

The elastic robot arm is assumed to carry a time varying end mass.

The problem is a moving boundary value problem.

The equations of motion of the elastic arm are obtained by using Lagrange’s equation of motion.

Effect of rotary inertia, axial shortening and gravitation has been considered in developing the dynamic model.

The equations of motion are obtained in the form of a set of ordinary differential equations by using admissible functions and the principle of separation of variables.

Equations of motion are numerically solved by using the Runge–Kutta method.

A computer program is developed for computer simulations.

Numerical results of computer simulations for tip deflections are presented in graphical form.

Physical trends of the obtained numerical results are discussed.