Dynamic modelling of a two-link flexible manipulator

Flexible manipulator systems exhibit many advantages over their traditionala (rigid-arm) counterparts. However, they have not been favoured in production industries due to its obvious disadvantages in controlling the manipulator. Therefore, this thesis presents theoretical investigation into the dyn...

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Main Author:	Ishak, Mohamad Hafis Izran
Format:	Thesis
Language:	English
Published:	2005
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/5149/1/MohamadHafisIzranIshakMFKE2005.pdf
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id	my-utm-ep.5149
record_format	uketd_dc
spelling	my-utm-ep.51492018-02-28T07:55:22Z Dynamic modelling of a two-link flexible manipulator 2005-11 Ishak, Mohamad Hafis Izran TK Electrical engineering. Electronics Nuclear engineering Flexible manipulator systems exhibit many advantages over their traditionala (rigid-arm) counterparts. However, they have not been favoured in production industries due to its obvious disadvantages in controlling the manipulator. Therefore, this thesis presents theoretical investigation into the dynamic modelling and characterisation of a flexible manipulator system. A constrained two-link flexible manipulator is considered that moves in horizontal plane only. A mathematical model of the system is developed based on finite element method. The final derived model of the system is simulated to investigate the behaviours of the system. 2005-11 Thesis http://eprints.utm.my/id/eprint/5149/ http://eprints.utm.my/id/eprint/5149/1/MohamadHafisIzranIshakMFKE2005.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Ishak, Mohamad Hafis Izran Dynamic modelling of a two-link flexible manipulator
description	Flexible manipulator systems exhibit many advantages over their traditionala (rigid-arm) counterparts. However, they have not been favoured in production industries due to its obvious disadvantages in controlling the manipulator. Therefore, this thesis presents theoretical investigation into the dynamic modelling and characterisation of a flexible manipulator system. A constrained two-link flexible manipulator is considered that moves in horizontal plane only. A mathematical model of the system is developed based on finite element method. The final derived model of the system is simulated to investigate the behaviours of the system.
format	Thesis
qualification_level	Master's degree
author	Ishak, Mohamad Hafis Izran
author_facet	Ishak, Mohamad Hafis Izran
author_sort	Ishak, Mohamad Hafis Izran
title	Dynamic modelling of a two-link flexible manipulator
title_short	Dynamic modelling of a two-link flexible manipulator
title_full	Dynamic modelling of a two-link flexible manipulator
title_fullStr	Dynamic modelling of a two-link flexible manipulator
title_full_unstemmed	Dynamic modelling of a two-link flexible manipulator
title_sort	dynamic modelling of a two-link flexible manipulator
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2005
url	http://eprints.utm.my/id/eprint/5149/1/MohamadHafisIzranIshakMFKE2005.pdf
_version_	1747814568316370944

Dynamic modelling of a two-link flexible manipulator

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