Vibration Analysis of Multilink Manipulators Based on Timoshenko Beam Theory
Joint Authors
Messina, Arcangelo
di Castri, Carmelo
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-21, 21 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-07-05
Country of Publication
Egypt
No. of Pages
21
Main Subjects
Abstract EN
Timoshenko's theory is adopted in order to accurately describe the freely vibrating dynamics of a multilink flexible manipulator.
It is herein presented an analytical modelling strategy that extends previous works through a more refined model which accounts for elastic complicating effects along with lumped inertial loads which are typically mounted on joints of manipulators; in this regard, more accurate results are provided.
The eigenproblem is presented from an analytical point of view through a matrix formulation, thus providing an essentially closed formula.
Apart from the limitations of the implementing calculator, the formulation can take into account an arbitrary number of links in an arbitrary settled configuration, thus allowing relevant analytical analysis and avoiding the need to recur to nonimmediate numerical schemes.
Once the analytical model is introduced, solutions are compared to both those achieved by previous models and those obtained by a finite elements method.
American Psychological Association (APA)
di Castri, Carmelo& Messina, Arcangelo. 2011. Vibration Analysis of Multilink Manipulators Based on Timoshenko Beam Theory. Journal of Robotics،Vol. 2011, no. 2011, pp.1-21.
https://search.emarefa.net/detail/BIM-505701
Modern Language Association (MLA)
di Castri, Carmelo& Messina, Arcangelo. Vibration Analysis of Multilink Manipulators Based on Timoshenko Beam Theory. Journal of Robotics No. 2011 (2011), pp.1-21.
https://search.emarefa.net/detail/BIM-505701
American Medical Association (AMA)
di Castri, Carmelo& Messina, Arcangelo. Vibration Analysis of Multilink Manipulators Based on Timoshenko Beam Theory. Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-21.
https://search.emarefa.net/detail/BIM-505701
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-505701