Vibrations in a moving flexible robot arm

The vibration in a flexible robot arm modelled by a moving slender prismatic beam is considered. It is found that the extending and contracting motions have destabilizing and stabilizing effects on the vibratory motions respectively. The vibration analysis is based on a Galerkin approximation with t...

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Bibliographic Details
Published inJournal of sound and vibration Vol. 116; no. 1; pp. 149 - 160
Main Authors Wang, P.K.C., Wei, Jin-Duo
Format Journal Article
LanguageEnglish
Published Legacy CDMS Elsevier Ltd 08.07.1987
Elsevier
Subjects
Applied sciences
Exact sciences and technology
Material handling, hoisting. Storage. Packaging
Structural Mechanics
Transfert equipment, manipulators; industrial robots
Industrial robot
Galerkin method
Vibration
Calculating method
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Summary:The vibration in a flexible robot arm modelled by a moving slender prismatic beam is considered. It is found that the extending and contracting motions have destabilizing and stabilizing effects on the vibratory motions respectively. The vibration analysis is based on a Galerkin approximation with time-dependent basis functions. Typical numerical results are presented to illustrate the qualitative features of vibrations.
Bibliography:CDMS
Legacy CDMS
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0022-460X
1095-8568
DOI:10.1016/S0022-460X(87)81326-3