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Paper Information

Journal:   IRANIAN JOURNAL OF MECHANICAL ENGINEERING (ENGLISH)   AUGUST 2001 , Volume 2 , Number 1; Page(s) 15 To 22.
 
Paper: 

POWER SPECTRAL DENSITY FOR DISPLACEMENT OF MANIPULATOR TIP TO A STOCHASTIC BASE EXCITATION

 
 
Author(s):  BAHRAMI MOHSEN, RAHI A., RASTGAR JAHANGIR
 
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Abstract: 

This paper describes the power spectral density matrix of manipulator tip displacement to stochastic excitation of the base. The dynamic equations for an articulated manipulator subjected to a vertically stochastic excitation are derived by Lagrangian method. Then the equations are linearized with respect to a small displacement in a fixed configuration.
Sensitivity of the power spectral density of tip motion to the manipulator configuration and structural damping are investigated. Finally, simulation results are presented for a 2R Planner robot manipulator under vertical base excitation

 
Keyword(s): STOCHASTIC VIBRATION, ROBOT MANIPULATOR, AND BASE EXCITATION
 
References: 
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  Persian Abstract Yearly Visit 63
 
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