DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS

摘要

The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a trajectory to transfer link in translational motion, and servo motor to rotate link. Computational codes in time history response (THR) and Fast Fourier Transform (FFT) processing were developed to identify the dynamic behavior of the link. The finite element-method and Newmark-beta are used in simulating the SLFM. Simulation using the finite element method has displayed dynamic behavior through a graph of FFT on free vibration and THR graph on forced vibration by the excitation force due to the translational and rotational motions of the system. In the simulation of free vibration, the natural frequency of the system is 8.3 [Hz].