NDLI: Accurate Modeling and Nonlinear Finite Element Analysis of a Flexible-Link Manipulator

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Accurate Modeling and Nonlinear Finite Element Analysis of a Flexible-Link Manipulator

Content Provider	Semantic Scholar
Author	Reddy, M. Pala Prasad Jacob, Jeevamma
Copyright Year	2014
Abstract	Accurate dynamic modeling and analysis of flexible link manipulator (FLM) with non linear dynamics is very difficult due to distributed link flexibility and few studies have been conducted based on assumed modes method (AMM) and finite element models. In this paper a nonlinear dynamic model with first two elastic modes is derived using combined Euler/Lagrange and AMM approaches. Significant dynamics associated with the system such as hub inertia, payload, structural damping, friction at joints, combined link and joint flexibility are incorporated to obtain the complete and accurate dynamic model. The response of the FLM to the applied bang-bang torque input is compared against the models derived from LS-DYNA finite element discretization approach and linear finite element models. Dynamic analysis is conducted using LS-DYNA finite element model which uses the explicit time integration scheme to simulate the system. Parametric study is conducted to show the impact payload mass. A numerical result shows that the LS-DYNA model gives the smooth hub-angle profile. Keywords—Flexible link manipulator, AMM, FEM, LS-DYNA, Bang-bang torque input.
Starting Page	165
Ending Page	170
Page Count	6
File Format	PDF HTM / HTML
Volume Number	8
Alternate Webpage(s)	http://waset.org/publications/9997453/accurate-modeling-and-nonlinear-finite-element-analysis-of-a-flexible-link-manipulator-
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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