REPUBLIC OF SERBIA

MINISTRY OF DEFENCE

www.mod.gov.rs

MINISTRY OF DEFENCE

Material Resources Sector

Defensive Technologies Department

Military Technical Institute

www.vti.mod.gov.rs

CONTRIBUTION TO THE DYNAMIC MODELING OF A SINGLE LINK FLEXIBLE MANIPULATOR

sLAVIŠA ŠALINIĆ

University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo,
Dositejeva 19, 36000 Kraljevo, Phone/fax: +381 36 383 269, e-mail: salinic.s@mfkv.kg.ac.rs

MARINA BOŠKOVIĆ

University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo,
Dositejeva 19, 36000 Kraljevo, Phone/fax: +381 36 383 269, e-mail: boskovic.m@mfkv.kg.ac.rs

RADOVAN R. BULATOVIĆ

University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo,
Dositejeva 19, 36000 Kraljevo, Phone/fax: +381 36 383 269, e-mail:  bulatovic.r@mfkv.kg.ac.rs

Abstract: This paper presents a rigid multibody approach for dynamic analysis of a single link flexible revolute manipulator. The multibody approach is based on the use of the modified Hencky bar-chain model of flexible beams. The flexible link of the manipulator is considered as a Timoshenko beam.  According to this approach, the flexible link is replaced by a system consisting of massless rigid beams carrying lumped masses. The massless beams are connected through frictionless two-degrees of freedom joints with appropriate lateral and rotational springs in them. In the paper, the influence of the payload carrying by the manipulator on the system dynamics is also considered. The validity and accuracy of the approach presented are proven through the comparison with the results previously reported in the literature. It is shown that the rigid multibody system, by which the flexible link is replaced, allows the analysis of the coupling between rigid motion and small elastic deformatin of the manipulator link.

Keywords: flexible revolute manipulator,Timoshenko beam, multibody, Hencky bar-chain model.