Modeling and experimental validation of a single-link flexible manipulator.
Gannon, Kevin P.
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Structural flexibility effects on robot mechanisms is a very important consideration in the move toward lighter, faster, and more accurate robot systems. This thesis presents the computer simulation and experimental validation of a dynamic model of an experimental single-link flexible manipulator, using the Equivalent Rigid Link System with an enhanced natural-mode discretization. The experimental arm is driven by a hydraulic actuator and moves in a vertical plane. Hydraulic actuator dynamics and the effects of gravity are included in the equations of motion. Computer simulation for the experimental arm is performed by the Dynamic Simulation Language (DSL). The validation of the dynamic model includes the comparison between the actual tip position and the predicted arm tip position.
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