Effect of flexibility on the impact response of a two-link rigid-flexible manipulator

Yigit A. S.

Journal of Sound and Vibration, vol.177, no.3, pp.349-361, 1994 (Scopus) identifier

  • Publication Type: Article / Article
  • Volume: 177 Issue: 3
  • Publication Date: 1994
  • Doi Number: 10.1006/jsvi.1994.1439
  • Journal Name: Journal of Sound and Vibration
  • Journal Indexes: Scopus
  • Page Numbers: pp.349-361
  • Ankara Yıldırım Beyazıt University Affiliated: No


The impact response of a two-link rigid-flexible manipulator is studied. A spring-dashpot model, which is based on the Hertzian contact law and non-linear damping, is used for impact modelling. Simulations have shown that the flexibility reduces the severity of the impact. The same impact conditions result in much less energy loss than that of a rigid manipulator. It is also found that as long as some elastic motion is excited due to impact, the response is significantly different from that of the rigid case, even for relatively stiff links. © 1994 Academic Press Limited.