Modeling of a spatial flexible manipulator with the telescopic motion of links. (Russian) Zbl 1137.93358

Zuyev, A. L.

Tr. Inst. Prikl. Mat. Mekh. 10, 51-58 (2005).

The aim of this paper is the design of a mathematical model for a manipulator with \(n\) elastic links modeled by Euler-Bernoulli beams. One of the natural prototypes of such construction is a large turntable ladder. Upon defining the kinetic and potential energies, the author proposes an implicit expression of the Lagrange functional. Integro-differential equations of motion for this system are obtained on the base of Hamilton’s variational principle. Conditions for the existence of a stationary solution are studied, and a scheme for compensating the control forces and torques is proposed.

Reviewer: Vladimir Fedorovich Shcherbak (Donetsk)

MSC:

93C20	Control/observation systems governed by partial differential equations
34A37	Ordinary differential equations with impulses
74K10	Rods (beams, columns, shafts, arches, rings, etc.)

Keywords:

flexible link manipulator; Euler-Bernoulli beam.