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ANALYSIS OF DYNAMIC CHARACTERISTICS OF FLEXIBLE ROBOT ARM USING SYMBOLIC MANIPULATION | ||
| Al-Qadisiyah Journal for Engineering Sciences | ||
| Article 25, Volume 2, Issue 2, 2009, Pages 304-314 PDF (0 K) | ||
| Authors | ||
| Essam Z. Fadhel; Mustafa T. Hussein | ||
| Abstract | ||
| This paper presents the symbolic analysis of the dynamic model of flexible robot arm. A planar single flexible link is considered. The finite element method is used for dynamic modeling of the system; the link is modeled as single finite element to simplify the problem. A symbolic algorithm is developed using MatLab program, general symbolic solution describing the dynamic behavior of single link flexible manipulator is obtained; including two types of boundary conditions, payload and frictional terms. The effect of physical parameters of the manipulator on the characteristics of the system and the impact of their variation on the transfer function features of the system are clearly shown by the symbolic algorithm presented in this paper | ||
| Keywords | ||
| flexible robot; Symbolic Modeling; Transfer Function | ||
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