The exact eigenfunctions for the slewing link are found, taking into account a rotating inertia at the base and a payload at the tip. These derive from two equivalent formulations (pseudoclamped and pseudopinned) of the boundary value problem relative to the flexible slewing beam. The exactness of the solution makes it possible to prove the equivalence of these two approaches, which differ in the choice of the noninertial rotating frame. The two related dynamic linear models are then found, and a change of coordinates is given. Experimental measurements validate the theoretical results.
Exact modeling of the flexible slewing link / F., Bellezza; Lanari, Leonardo; Ulivi, Giovanni. - (1990), pp. 734-739. (Intervento presentato al convegno Proceedings of the 1990 IEEE International Conference on Robotics and Automation tenutosi a Cincinnati, OH, USA nel 13 May 1990 through 18 May 1990) [10.1109/robot.1990.126073].
Exact modeling of the flexible slewing link
LANARI, Leonardo;ULIVI, GIOVANNI
1990
Abstract
The exact eigenfunctions for the slewing link are found, taking into account a rotating inertia at the base and a payload at the tip. These derive from two equivalent formulations (pseudoclamped and pseudopinned) of the boundary value problem relative to the flexible slewing beam. The exactness of the solution makes it possible to prove the equivalence of these two approaches, which differ in the choice of the noninertial rotating frame. The two related dynamic linear models are then found, and a change of coordinates is given. Experimental measurements validate the theoretical results.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
