Abstract
The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response ofmultilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.
| Original language | English |
|---|---|
| Pages (from-to) | 831-833 |
| Number of pages | 3 |
| Journal | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME |
| Volume | 119 |
| Issue number | 4 |
| DOIs | |
| State | Published - Dec 1997 |
| Externally published | Yes |