This paper describes an investigation of real time dynamic modeling method for a flexible cantilever beam, as an approximation of a robot flexible link, using experimental measurement techniques. The beam is equipped with a number of strain gauges to measure the corresponding nodal flexibilities and using them to obtain its real-time dynamic model. Two methods are proposed; the 1st method is based on approximating the beam deflection by a 4th order polynomial curve while the 2nd one is based on the solution of its Eulerbernoulli equation. The polynomial constants are obtained by real-time estimation using the readings of the strain gauges. These readings are used to estimate the beam temporal solution in the 2nd method. The error in the beam tip deflection is reduced to 0.01% by relocating the last strain gauge at 12.5% instead of 30% from its tip. Both methods show good agreement with the general beam theory and results.
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ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 2–6, 2003
Chicago, Illinois, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-3703-3
PROCEEDINGS PAPER
Dynamic Modeling of a Flexible Cantilever Beam: An Experimental Technique
S. M. Megahed,
S. M. Megahed
Cairo University, Giza, Egypt
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A. A. Nada
A. A. Nada
Denmark Technical University, Lyngby, Denmark
Search for other works by this author on:
S. M. Megahed
Cairo University, Giza, Egypt
A. A. Nada
Denmark Technical University, Lyngby, Denmark
Paper No:
DETC2003/VIB-48352, pp. 449-455; 7 pages
Published Online:
June 23, 2008
Citation
Megahed, SM, & Nada, AA. "Dynamic Modeling of a Flexible Cantilever Beam: An Experimental Technique." Proceedings of the ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C. Chicago, Illinois, USA. September 2–6, 2003. pp. 449-455. ASME. https://doi.org/10.1115/DETC2003/VIB-48352
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