Dynamic Modelling of a Flexible Manipulator System Incorporating Payload: Theory and Experiments

This paper presents theoretical and experimental investigations into the dynamic characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system, incorporating structural damping, hub inertia and payload, is developed using finite element methods. Effects of damping and payload on the response of the flexible manipulator are discussed. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig. Experimental results are presented for validation of the developed finite element model in the time and frequency domains.

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