Configuration dependent eigenfrequencies for a two-link flexible manipulator: Experimental verification

In this paper, the exact partial differential equations governing the syste m modes of a general two-link flexible manipulator are derived by matching the boundary equations at the elbow. The resulting partial differential equ ation formulation is solved numerically to yield the exact eigenfrequencies corresponding to arbitrary elbow angles. The eigenfrequencies are shown to be a strong function of manipulator configuration, varying by up to 30% as the manipulator sweeps across its range of motion; this is subsequently sh own to accurately predict the eigenfrequencies of an experimental two-link manipulator. (C) 1999 Academic Press.