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dc.contributor.authorM. Khairudin
dc.date.accessioned2014-12-03T01:13:31Z
dc.date.available2014-12-03T01:13:31Z
dc.date.issued2014-12-04
dc.identifier.citation[1] Dwivedy, S.K. Eberhard, P, “Dynamic analysis of flexible manipulators, a literature review,” Jurnal on Mechanism and Machine Theory 41. (2006) 749–777. [2] Martins J.M., Mohammed Z., Tokhi M.O., Sa’da Costa J.and Botto M.A, “Approaches for dynamic modeling of flexible manipulator systems,” IEE Proc-Control Theory Appl., (2003). Vol 150, No.4, July 2003. [3] Tokhi MO, Mohamed Z, Shaheed MH, “Dynamic characterization of a flexible manipulator system,” Robotica, (2001), 19:571-580. [4] Tokhi MO, Mohamed Z, Azad AKM, “Finite difference and finite element approaches to dynamic modelling of a flexible manipulator,” Proceeding of IMechE-I: Journal of Systems and Control Engineering, (1997); 211:145-156. [5] De Luca A., Siciliano B., “Closed-form dynamic model of planar multilink lightweight robots,” IEEE Transactions on Systems, Man, and Cybernetics 21 (4). (1991). 826-839. [6] Subudhi B, Morris AS. Dynamic, “Modelling, Simulation and Control of a manipulator with flexible links and joints,” Robotics and Autonomous System, (2002) 41:257-270. [7] R. J. Theodore, "Comparison of the Assumed Modes and Finite Element Models for Flexible Multilink Manipulators," The International Journal of Robotics Research, vol. 14 no. 2 91-111, 1995. [8] M. Khairudin, Z. Mohamed, A.R. Husain, R. Mamat, “Dynamic characterisation of a two-link flexible manipulator: theory and experiments”, International Journal of Advances in Robotic Research, Vol. 1 (1), 2014.en_US
dc.identifier.issn2407-4330
dc.identifier.urihttp://hdl.handle.net/11617/4966
dc.description.abstractThis paper presents the dynamic modelling of a flexible robot manipulator incorporating payload. A planar flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a finite element and assumed mode methods (FEM and AMM). In this work will make a comparison between FEM and AMM. Simulation is performed to assess the dynamic model and system responses at the hub and modal displacement of link are presented and analysed in time and frequency domains. Moreover, effects of payload on the dynamic characteristics of the flexible manipulator are studied and discusseden_US
dc.publisherUniversitas Muhammadiyah Surakartaen_US
dc.subjectAssumed modeen_US
dc.subjectfinite elementen_US
dc.subjectmodellingen_US
dc.subjectflexible manipulatoren_US
dc.titleDynamic Modelling of a Flexible Manipulator: Comparison between AMM and FEMen_US
dc.typeArticleen_US


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