@inproceedings{ca0ca8f77a9246e5a8dec7e23abd3682,
title = "Parametric study of suitable orthogonality conditions for planar multilink flexible robots",
abstract = "Orthogonality conditions and stiffness matrix elements are related. Assumed mode method can be used to obtain a finite model of a flexible linkage. In this paper the normal modes and stiffness matrix elements for multilink flexible manipulators are obtained through a more accurate parametric orthogonality condition equation that accounts for actual mass and moment of inertia at the end of each link including the contribution of masses of distal links. As an alternative to the lengthy orthogonality condition equation, three equivalent and companion orthogonality conditions are proposed. Normal mode shapes are derived from either one of the proposed orthogonality conditions. Lagrangian method is used to derive the closed-form dynamic model. The Jacobian matrices are used to compute the inertia matrix. The centrifugal and Coriolis vector elements are computed from the inertia matrix using the Christoffel symbol. Simulations are conducted to validate the theoretical model.",
keywords = "Coriolis, Flexible, Jacobian, Link, Orthogonality",
author = "Tekweme, {Francis Kunzi} and Andre Nel",
year = "2016",
month = oct,
day = "3",
language = "English",
series = "Proceedings of the 10th South African Conference on Computational and Applied Mechanics, SACAM 2016",
publisher = "South African Association Computational and Applied Mechanics",
editor = "Jan-Hendrik Kruger",
booktitle = "Proceedings of the 10th South African Conference on Computational and Applied Mechanics, SACAM 2016",
note = "10th South African Conference on Computational and Applied Mechanics, SACAM 2016 ; Conference date: 03-10-2016 Through 05-10-2016",
}