engleski

Flexible mechanisms modelling using modal approach

The scope of the paper is mathematical modelling of flexible mechanisms using modal approach, and a comparison of the given method with the finite element method (FEM) approach considering numerical and computational issues. Although the rigid body dynamics and the vibrations of fixed structures are already well researched, the flexible robot manipulators and similar flexible mechanism systems with low stiffness links still need better and more efficient algorithms regarding the automatic control requirements. Advanced model based control strategies require models of relatively low order, but still able to describe system dynamics well enough. In order to develop the mathematical model Lagrangian formulation is employed. The small deformation of the flexible links is assumed. The eigenvectors are used as the space approximation functions and Galerkins method is applied to reach partial formulation. The time solution procedure is step by step based algorithm. The results are compared with those obtained by the finite element procedure and with the experimental results obtained on the laboratory model of the flexible robot manipulator. The numerical and computational efficiency of applied method is discussed.

flexible mechanism; finite element method; mathematical modelling; modal approach

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