Abstract
The objective of this research is to design a sensing antenna, a robot based on a single – link flexible arm which will enable us to locate a contact position with an object in order to detect the precise shape of that object. In the first approach, this paper focuses on the dynamics of a single-link flexible arm. It was designed under the assumption that its mass was concentrated at the tip. A comprehensive dynamic model for the arm is derived with the Lagrangian Formulation in which the elastic characteristics of the arm are modeled using the Euler-Bernoulli beam theory and simulated using Matlab Simulink registered. The governing equations of the model are nonlinear. A finite element model of the single-link flexible arm was developed and the deflection of the tip was determined in order to be compared with the theoretical solution and simulation.
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Fernández, J.G., Batlle, V.F., Torija, M.Á.C. (2009). Dynamic Modelling of a Single – Link Flexible Arm to be Used as a Sensing Antenna. In: Ceccarelli, M. (eds) Proceedings of EUCOMES 08. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8915-2_39
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DOI: https://doi.org/10.1007/978-1-4020-8915-2_39
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8914-5
Online ISBN: 978-1-4020-8915-2
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