Research Article
Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control
Table 1
Parameters of the manipulator and special elements.
| | Following up unit | Mounting base | Flexible beam | | ρf kg/m3 | Ef (GPa) | Lf (mm) | ρm (kg/m3) | Em (GPa) | Lm (mm) | ρb (kg/m3) | Eb (GPa) | Lb (mm) | (mm) | (mm) |
| | 7.9 × 103 | 200 | 50 | 7.9 × 103 | 200 | 82 | 7.9 × 103 | 200 | 500 | 20 | 1 |
| | e1 | e2, e5 | e3 | e4 | Rotor | Flex joint | Tip mass | | Ae1 (mm2) | Ie1 (mm4) | Ae2,5 (mm2) | Ie2,5 (mm4) | Ae3 (mm2) | Ie3 (mm4) | Ae4 (mm2) | Ie4 (mm4) | Jr (Kgm2) | kJ (Nm/degree) | mt (kg) | Jt (Kgm2) |
| | 525 | 5.3 × 104 | 2624 | 1.47 × 106 | 1563 | 7.1 × 105 | 384 | 4608 | 3 × 10−2 | 200 | 0.5 | 1.25 × 10−4 |
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