Figure 8 (6): End point displacement of the first link.
Related Figures (20)
3. Numerical Solution and Simulation Results In this section, the numerical solutions and _ the simulation resu presented. solving difference metho he numerical was executed wi and 2. The pro used in t he sys his simu condition, angular velocity of the two links are considered. Figures 4 and 5 show the first and second joint angle variations with réspect to time. Fig’s 6-7 show the displacement of two points located at the end of the The rotation of the tangent line at end points is shown in Fig’s 8-9. Fig’s 10- 15 show the rate of the mentioned quantities. These are the angular velocities of the first and second links, the inear velocity of the ends of two links, and their wo. links. ts of em o d. Tab h quad files o varia a flexible manipulator, is A computer program was developed for equations using the ‘finite le 1 indicates the parameters solution. The computer code ratic torques appliedyat joints f the quadratic torque used in ation are shown in Fig’s 2-3. Under this ion oO the joint angles and the angular velocity of the tangent line at the end, resnectivelv. Fig. (3): Actuating torque applied to joint two. Fig. (4): Joint angle versus time at first joint. Fig. (5): Joint angle variations versus time at second joint. Fig. (7): End point displacement of the second link. Fig. (8): Rotation of tangent line at the end point of first link. Fig. (9): Rotation of tangent line at the end point of second link. Fig. (10): Angular velocity of the first link. Fig. (11): Angular velocity of the second link. Fig.(12): Linear velocity of the end point of first link. Fig. (13): Linear velocity of the endpoint of second link. Fig. (14): Angular velocity at the end of first link. Fig. (15): Angular velocity at the end of Second link.
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