Dynamic Modeling and Path Planning of Flexible-Link Manipulators

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ISSN: 2278-0149 (Online)
Short Title: Int. J. Mech. Eng. Robot. Res.
Frequency: Bimonthly
DOI: 10.18178/ijmerr
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Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.

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Home > Articles > All Issues > 2014 > Volume 3, No. 2, April 2014 >

M Nazemizadeh, M Taheri, and Sh Nazeri

Department of Mechanics, Damavand Branch, Islamic Azad University, Damavand, Iran.

Abstract— In this paper, dynamic modeling and path planning of flexible-link manipulators are presented. Each link of flexible manipulator is modeled by finite number of elements, and the displacement of element is formulated based on nodal coordinates and shape functions of beam element. Then, the kinetic and potential energy of the system is developed using the displacement in the reference coordinate systems. Then, by employing the Lagrange principle, the nonlinear dynamic model of the system is derived and validated.

Index Terms— Flexible-link, Manipulator, Dynamic modeling, Finite element method

Cite: M Nazemizadeh, M Taheri, and Sh Nazeri, " Dynamic Modeling and Path Planning of Flexible-Link Manipulators," International Journal of Mechanical Engineering and Robotics Research, Vol. 3, No. 2, pp. 223-228, April 2014.