Author : Srinivas Reddy P, T.A. JanardhanReddy and Chandra Sekhar K

This paper mainly focuses on the theoretical development of the equations of motion of a robotic manipulator, involving both joint flexibility and structural flexibility. The objective of this work is to extract the dynamic equations and write a ’C’ program to check the effect of joint flexibility on the system frequencies. The obtained outcomes of this paper show that the fundamental frequency is not sensitive to hub inertia or payload inertia but are mainly affected by payload mass, while the second frequency is affected by payload inertia.

Keywords: manipulator, dynamic, payload, hub inertia, joint stiffness, fundamental frequency.

Article published in International Journal of Current Engineering and Technology, Vol.4, No.5 (Oct-2014)