Mathematical modeling and simulation of a flexible shaft-flexible link system with end mass

Ankarali A. , Kalyoncu M., Botsali F. M. , Şişman T.

Mathematical and Computer Modelling of Dynamical Systems, vol.10, pp.187-200, 2004 (Journal Indexed in SCI Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 10
  • Publication Date: 2004
  • Doi Number: 10.1080/13873950412331335216
  • Title of Journal : Mathematical and Computer Modelling of Dynamical Systems
  • Page Numbers: pp.187-200


In this study, the equation of motion of a single link flexible robotic arm with end mass, which is driven by a flexible shaft, is obtained by using Hamilton's principle. The physical system is considered as a continuous system. As a first step, the kinetic energy and the potential energy terms and the term for work done by the nonconservative forces are established. Applying Hamilton's principle the variations are calculated and the time integral is constructed. After a series of mathematical manipulations the coupled equations of motion of the physical system and the related boundary conditions are obtained. Numerical solutions of equations of motion are obtained and discussed for verification of the model used.