Unconstrained and Constrained Mode Expansions for a Flexible Slewing Link

The linear equations of motion of a uniform flexible slewing link which were derived via Hamilton's Extended Principle are considered. These equations account for the coupling between bending and rigid modes. Unconstrained and constrained mode expansions are investigated and a quantitative comparison is made between the frequency equations and associated mode shapes. A finite dimensional model is derived using the assumed modes method and the theoretical frequencies are verified with an experimental counterbalanced aluminum beam.

[1]  P. C. Hughes,et al.  Dynamics of flexible space vehicles with active attitude control , 1974 .

[2]  David B. Schaechter.  Hardware Demonstration of Flexible Beam Control , 1982 .

[3]  H. Hablani.  Constrained and unconstrained modes - Some modeling aspects of flexible spacecraft , 1982 .

[4]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[5]  J. C. Simo,et al.  On the Dynamics of Flexible Beams Under Large Overall Motions—The Plane Case: Part II , 1986 .

[6]  Antonio Tornambè,et al.  Dynamic modelling of flexible robot manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[7]  Lucas G. Horta,et al.  A slewing control experiment for flexible structures , 1986 .

[8]  M. G. Forrest-Barlach.  On Modelling a Flexible Robot Arm as a Distributed Parameter System with Nonhomogeneous, Time-Varying Boundary Conditions , 1987 .

[9]  Wayne J. Book,et al.  A linear dynamic model for flexible robotic manipulators , 1986, IEEE Control Systems Magazine.

[10]  Modelling of a Rotating Flexible Beam , 1987 .

[11]  Enrique Barbieri,et al.  Control of multiple-mirror/flexible-structures in slew maneuvers , 1987 .

[12]  Paul Blelloch.  Control/dynamics simulation for preliminary Space Station design , 1987 .

[13]  Umit Ozguner,et al.  Singular Perturbation Analysis of a Distributed Parameter Model of Flexible Manipulators , 1988, 1988 American Control Conference.

[14]  E. Barbieri,et al.  Unconstrained and constrained mode expansions for a flexible slewing link , 1988 .