Abstract
This paper presents a three-node isoparametric finite beam element to study dynamic behavior of planar manipulators. The characteristic matrices of the finite element are formulated to include the effects of joint compliances, shear deformation and rotary inertia and to account for coupling effects of nonlinear gross motion of the manipulator links with their distributed flexibility and mass properties. Instantaneous steady-state static response, modal analysis and transient response are obtained. A 2 R planar manipulator with rigid and compliant joints is analyzed.
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