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Vibration analysis of an elastic robot manipulator with prismatic joint and a time-varying end mass
Joint Authors
Kalyoncu, Mete
Botsali, Fatih Muhammad
Source
The Arabian Journal for Science and Engineering. Section C, Theme issues
Issue
Vol. 29, Issue 1C(s) (30 Jun. 2004), pp.27-38, 12 p.
Publisher
King Fahd University of Petroleum and Minerals
Publication Date
2004-06-30
Country of Publication
Saudi Arabia
No. of Pages
12
Main Subjects
Topics
Abstract AR
تمت في هذه الدراسة عملية استقصاء الاهتزازات لذراع آلي مرن في وصلة دورانية انزلاقية, و قد تم افتراض أن كتلة نهاية الذراع الآلي المرنة متغيرة مع الزمن ترتبط هذه الدراسة بقيمة حدودية متحركة.
و قد تم الحصول على معادلات الحركة للذراع المرن بوساطة معادلة لاقرانج (Lagrange) للحركة, كذلك أخذ في الاعتبار عند تطوير النموذج الديناميكي تأثير القصور الذاتي الدوراني و القصر المحوري و الجاذبية.
كما حصلنا على معادلات الحركة من مجموعة من المعدلات العادية التفاضلية باستخدام دالات مقبولة و مبدأ فصل المتغيرات.
و قد حـلت معدلات الحركة عدديا باستخدام طريقة رونقا - كوتا (Runge–Kutta).
كما تم تطوير برنامج للمحاكاة.
و تم عرض النتائج الرقمية لمحاكاة الانحراف الطرفي بالرسومات و نوقش التغير الفيزيائي للنتائج العددية.
Abstract 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.
American Psychological Association (APA)
Kalyoncu, Mete& Botsali, Fatih Muhammad. 2004. Vibration analysis of an elastic robot manipulator with prismatic joint and a time-varying end mass. The Arabian Journal for Science and Engineering. Section C, Theme issues،Vol. 29, no. 1C(s), pp.27-38.
https://search.emarefa.net/detail/BIM-360136
Modern Language Association (MLA)
Kalyoncu, Mete& Botsali, Fatih Muhammad. Vibration analysis of an elastic robot manipulator with prismatic joint and a time-varying end mass. The Arabian Journal for Science and Engineering. Section C, Theme issues Vol. 29, no. 1C(s) (Jun. 2004), pp.27-38.
https://search.emarefa.net/detail/BIM-360136
American Medical Association (AMA)
Kalyoncu, Mete& Botsali, Fatih Muhammad. Vibration analysis of an elastic robot manipulator with prismatic joint and a time-varying end mass. The Arabian Journal for Science and Engineering. Section C, Theme issues. 2004. Vol. 29, no. 1C(s), pp.27-38.
https://search.emarefa.net/detail/BIM-360136
Data Type
Journal Articles
Language
English
Notes
Includes appendices : p. 37-38
Record ID
BIM-360136