Modeling of a flexible link having a prismatic joint in robot mechanism-experimental verification

Abstract

A dynamic model of the link, which has rotational and translation motion, is derived using a Lagrangian equation. The validity of the model is investigated by comparing the results of computer simulation to experimental results for a single-link arm. For the experiment, a two-degree-of-freedom flexible robot arm was built, and tip deflections of the arm were observed by double integrating tip-acceleration measurements.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>