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Abstract




This paper presents the research of general model and building dynamic equations of two flexible links manipulator motion in the horizontal plane. Dynamic modeling is considered with adding factors which are payload, elastic friction, mass and initial moment of rotors. So it is closed to reality. Dynamic equations are derived through finite element method based on Lagrange approach. Dynamic behaviors of the system with payload were simulated like a specific example. The results can be used to building the control system which increases accuracy position of manipulators under influence of elastic displacements of links.






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Article Details

Issue: Vol 20 No K1 (2017)
Page No.: 28-34
Published: Mar 30, 2017
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v20iK1.409

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Creative Commons License

Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

 How to Cite
Xuan Bien, D., Anh My, C., & Bui Khoi, P. (2017). Building dynamic equations of manipulator with flexible links. Science and Technology Development Journal, 20(K1), 28-34. https://doi.org/https://doi.org/10.32508/stdj.v20iK1.409

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