Abstract
In this chapter, we focus our attention on the formulation of the equations of motion of multibody systems with flexible terminal links. It is our interest to see how flexibility (elastic deformation) affects the dynamics, hence providing some insight into how to control it. Vibration of terminal links is more pronounced when high speed of light structure is required. For instance, the accurate positioning of a robotic manipulator requires that we assume a certain vibrating behavior in the control algorithm to be able to predict more precisely the position of its endpoint. In today’s technology, it is not possible to foresee any design of a control block for industrial / space manipulators that would not include the effects of flexibility.
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(2006). Dynamics of Multibody Systems with Terminal Flexible Links. In: Fundamentals of Multibody Dynamics. Birkhäuser Boston. https://doi.org/10.1007/0-8176-4406-7_10
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DOI: https://doi.org/10.1007/0-8176-4406-7_10
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