Abstract

In this paper, the dynamic stability of a flexible arm is studied according to Liapunov’s first approximation method of stable criteria. The governing equations are developed based on Lagrange and modal analysis method and linearized round the nominal values of generalized coordinates by the perturbation technique. The stable criteria are established by means of eigenvalue analysis of Jacobi matrix of governing equations. At last, an example is given.

Volume Subject Area:
23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls
Keywords:
stability, flexible arm, Jacobi matrix
Topics:
Stability, Approximation, Dynamic stability, Eigenvalues, Modal analysis
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Copyright © 1994 by The American Society of Mechanical Engineers
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