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Dynamic model of a flying manipulator with two highly flexible links

Zohoor, H ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1016/j.apm.2007.07.010
  3. Publisher: 2008
  4. Abstract:
  5. Nonlinear dynamic model of a flying manipulator with two revolute joints and two highly flexible links is obtained using Hamilton's principle. Flying base of the manipulator is a rigid body. Stress is treated three dimensionally in the isotropic linearly-elastic links, but the in-plane and out-of-plane warpings of the links' cross-sections are neglected. Although the links' cross-sections undergo negligible elastic orientation, their models are more accurate than a nonlinear 3D Euler-Bernoulli beam. Tension, compression, twisting and spatial deflections of each link are coupled to each other by some nonlinear terms including two new ones. In the issue of flying flexible-link manipulators new terminologies, namely forward/inverse kinetics instead of forward/inverse kinematics are suggested, since determination of position and orientation of the end-effector is coupled to the partial differential motion equations. © 2007 Elsevier Inc. All rights reserved
  6. Keywords:
  7. Elasticity ; Hamiltonians ; Kinematics ; Kinetics ; Mathematical models ; Euler-Bernoulli beam ; Isotropic linearly-elastic links ; Nonlinear dynamic model ; Manipulators ; Stresses ; Tensile testing
  8. Source: Applied Mathematical Modelling ; Volume 32, Issue 10 , 2008 , Pages 2117-2132 ; 0307904X (ISSN)
  9. URL: https://www.sciencedirect.com/science/article/pii/S0307904X07001783