This chapter describes the development of finite element simulation algorithm of a single-link flexible manipulator system while considering its dynamic behaviours. The algorithm is then utilized to obtain various simulation responses using case studies. The performance of the simulation outcome is also compared with the responses from an experimental system.

Chapter Contents:

• 5.1 Introduction
• 5.2 Finite element background
• 5.3 Finite element for flexible manipulator
• 5.3.1 Incorporating hub inertia and payload
• 5.3.2 State-space representation
• 5.4 Case studies
• 5.4.1 Case study 5.1: simulated system with various FE elements
• 5.4.2 Case study 5.2: simulated system with damping and no payload
• 5.4.3 Case study 5.3: simulated system with damping and payload
• 5.5 Model validation
• 5.6 Summary

Inspec keywords: manipulator dynamics; flexible manipulators; finite element analysis

Other keywords: single-link flexible manipulator system; dynamic behaviours; finite element modelling; finite element simulation algorithm

Subjects: Finite element analysis; Numerical analysis; Manipulators; Robot and manipulator mechanics