Abstract: Substructure synthesis
methods have been used for dynamic analysis of large structures
with nonproportional and viscoelastic damping successfully. This
methods, however, have not been brought up to now to dynamic
analysis of flexible robot arms makes with distributed
viscoelastic damping. In this paper, component mode synthesis
method for dynamic analysis of flexible manipulator with
distributed viscoelastic damping is presented, in which robotic
manipulator system is broken up into its free-free substructures
(or components). The equation size of the substructures is
reduced by modal synthesis techniques. The reduced component
equations are then coupled to construct the overall system
equations by time-dependent compatibility matrix. Numerical
results for a planar manipulator indicate that the proposed
synthesis method is effective.
Key words:
Multibody system Flexible
manipulator Viscoelastic damping Mode synthesis
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