Modelling of a 5-bar-linkage manipulator with one flexible link

Abstract

A model of a five-bar-linkage root is examined where the top link is flexible. The modeling process is described and applied to the simpler problem of a single link beam. The model of the five-bar-linkage robot with the top link flexible is derived and then simplified using various assumptions which are discussed. It is shown that under these assumptions, it may be possible to control two joints using a typical rigid-body controller while using the third joint to control the vibrations. This greatly simplifies the control problem.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>