Modeling and simulation of one-link flexible manipulators

Abstract

First, this thesis presents four types of dynamic models for one-link flexible manipulators: Euler-Bernoulli model, Euler-Bernoulli model with rotatory inertia, Timoshenko model, and Euler-Bernoulli model with tip mass through Hamilton Principle, and exact modal frequencies and vibration modes are derived through Laplace transformation and eigenanalysis. The numerical analysis is conducted to verify the established models and investigate the influences of rotatory inertia, shear deformation and tip mass. Second, this thesis presents the exact dynamic solutions of Euler-Bernoulli model for the step torque input and design of a dynamics simulator for one-link flexible manipulators based on the exact dynamic solutions. Several types of sensor models have been specified in the designed simulator to provide various sensory data sets required for feedback controls. A simulation study is performed to verify the designed simulator and to demonstrate the usage of the dynamics simulator for controller design and evaluations.