Document Type
Thesis
Date of Award
9-30-1989
Degree Name
Master of Science in Electrical Engineering - (M.S.)
Department
Electrical Engineering
First Advisor
Frederick D. Chichester
Second Advisor
Marek Sosnowski
Third Advisor
Yun Q. Shi
Abstract
The dynamics of single link flexible robotic arms are modeled using the Bernoulli-Euler beam equation and Lagrange's equation. The Bernoulli-Euler beam equation derivation is reviewed and is studied in the limiting case as the flexiblity approaches zero. Using the Bernoulli-Euler beam equation, a procedure is developed to calculate the position of the endpoint of a link given the displacement, slope or curvature of any point on the link. Also a procedure is developed to calculate the minimum Young's modulus of elasticity, E, given a specified endpoint displacement tolerance.
A rigid link model based on Lagrange's equation and a flexible link model derived by Wayne Book are reviewed. The flexible link model is compared to the rigid link model in the limiting case and is shown to be the same. Also, a modified rigid link model is developed, which can be expanded into a flexible link model. Then, a procedure is formulated for expanding the new rigid link model into a flexible link model. Computer programs simulating the above models are included.
Recommended Citation
Downes, George A., "Robotic arms with flexible links as the links approach rigidity" (1989). Theses. 2754.
https://digitalcommons.njit.edu/theses/2754
