Theoretical investigation into the modelling of a flexible beam with drive-line compliance

Abstract

Abstract A comparison is made between the dynamics of three possible models for a flexible link and drive-line as used in some robotic or weapons systems. The three models considered are: model 1, a flexible link with compliance in the drive-line; model 2, flexible link with direct drive; and model 3, rigid link with drive-line compliance (flexible joint). Non-dimensional parameters are suggested for the models and comparisons are made between them, by examining the transfer functions poles (resonances) and zeros (anti-resonances). From the study, recommendations are made as to the suitability of the three models for different applications.