Study of Vibrations of a Robotic Arm, Using the Lagrange Equations with Respect to a Non-inertial Reference Frame

  • Andrei CraifaleanuEmail author
  • Ion Stroe
Conference paper
Part of the Springer Proceedings in Physics book series (SPPHY, volume 198)


The paper studies the free vibrations of a robotic arm, located on a rotating platform. The robotic arm is modeled as a system with a finite number of degrees of freedom, consisting of elastically coupled rigid bodies. The differential equations of the free vibrations are obtained using the Lagrange equations formalism, in a generalized form, valid with respect to a non-inertial reference frame. The influence of the kinematic parameters of the platform motion upon the eigenfrequencies of the robotic arm is analyzed, considering two configurations of the system.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.University “Politehnica” of BucharestBucharestRomania

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