Kinematic analysis of a single link flexible manipulator

Abstract

The present work investigates the dynamic analysis of a single link flexible manipulator with a tip mass using Tangential Coordinate System (TCS) and the Virtual Link Coordinate System (VLCS). The equations of motion are derived using the extended Hamilton's Principle. A third order polynomial trajectory is designed in the joint space. Numerical analysis is carried out for both types of coordinate systems and the total deflection is compared for both types of the coordinate.