Flexible Link Manipulator:Kinematics and Dynamics using FEM

Many theories have been developed for dynamics of rigid link manipulator (RLM) and experimentally verified. Due to the flexibility these theories does not implies directly to flexible link manipulator. The link flexibility makes the dynamic model of a Flexible Link Manipulator (FLM )much more complicated than that of a RLM. Also increases the numbers of the degrees-of-freedom of the FLM. This complicated dynamic model thus creates several challenges in the design and implementation of model-based controllers for FLM.The major emphasis of the book is to elaborate various methods of kinematics and dynamics modeling of rigid link as well as flexible link. And work on application of rigid link theory both kinematics and dynamics to a flexible link manipulator using forward kinematics for solving kinematics of link while using Langrange-Euler formulation for dynamics.

Autorentext

Mahesh Makwana is currently working as an Assistant Professor at College of Food Processing technology and Bioenergy, Anand Agricultural University, Anand, Gujarat, India. He obtained his M.Tech in Mechanical Engineering With specialization in CAD/CAM from SVNIT, Surat. His area of interest is Industrial Robotics and Automation.