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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
