Title: Dynamic formulation of a two link flexible manipulator and its comparison analysis with a knuckle joint cantilever

Authors: Prasenjit Sarkhel; Nirmal Baran Hui; Nilotpal Banerjee

Addresses: Department of Mechanical Engineering, National Institute of Technology, Durgapur, West Bengal 713209, India ' Department of Mechanical Engineering, National Institute of Technology, Durgapur, West Bengal 713209, India ' Department of Mechanical Engineering, National Institute of Technology, Durgapur, West Bengal 713209, India

Abstract: In the present study a dynamic modelling technique for a two-link flexible planar manipulator is presented. The developed manipulator model can include an arbitrary number of flexible links. The gross equation of motion of each flexible link has been obtained by composing the rigid body motion and a small elastic deformation of each link. In order to bring the simplicity the modelling technique has been applied to model a two link flexible manipulator. The analytical derivation and final expression for the equation of motion has been shown for a two link flexible manipulator using the proposed modelling method. Later on, a comparison analysis has been studied between the proposed manipulator model and a simple cantilever with a knuckle joint. Finite element analysis of the beam has been done in ANSYS 17.1 considering different types of elements under different loading conditions. The various numerical results have been generated at different nodal points by taking the origin of the Cartesian coordinate system at the fixed end of the beam. Finally, a comparison analysis has been made to find a way to validate the proposed mathematical modelling.

Keywords: flexible manipulator; dynamic modelling; equation of motion; cantilever beam; knuckle joint.

DOI: 10.1504/IJVICS.2022.120824

International Journal of Vehicle Information and Communication Systems, 2022 Vol.7 No.1, pp.82 - 99

Received: 26 Nov 2019
Accepted: 22 Jun 2020
Published online: 11 Feb 2022 *

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