This paper presents an analytical model to determine the natural frequencies and modes of vibration of a multi-body system, composed of two interconnected, flexible links. The model includes axial and transversal dynamics and it can take into account single-stress models as particular cases. Modal data are determined for different geometrical configurations of the system, and relevant solutions of the partial differential equations (PDEs), describing the system’s behavior, are derived. The governing PDEs are obtained using the Hamilton’s variational principle. The proposed method is compared and validated against an existing analytical method and a finite element approach in terms of ability in estimating the modal parameters and the dynamic responses due to given initial values.
Modal Analysis of a Two-link Flexible Manipulator
DI CASTRI, CARMELO;MESSINA, Arcangelo;REINA, GIULIO
2009-01-01
Abstract
This paper presents an analytical model to determine the natural frequencies and modes of vibration of a multi-body system, composed of two interconnected, flexible links. The model includes axial and transversal dynamics and it can take into account single-stress models as particular cases. Modal data are determined for different geometrical configurations of the system, and relevant solutions of the partial differential equations (PDEs), describing the system’s behavior, are derived. The governing PDEs are obtained using the Hamilton’s variational principle. The proposed method is compared and validated against an existing analytical method and a finite element approach in terms of ability in estimating the modal parameters and the dynamic responses due to given initial values.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
