Modelling of a Flexible Robot Manipulator Using Finite Element Methods: A Symbolic Approach

Abstract

This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulator is considered. A simulation algorithm of the system is developed using a symbolic language which enables system characterisation with varying parameters. Analyses and investigations in terms of system transfer function, stability, response and end-point vibration to an input command arc presented. An assessment of the performance of the approach is presented and discussed through numerical simulations.