The stability of a flexible link with a tip rotor and a compressive tip load

A mathematical model of a Euler-Bernoulli beam with a discrete gyroscopic element, consisting of a single rotor located at the tip of the beam, is presented. The rotor is assumed to have a constant angular velocity and an axis of inertial symmetry which is coincident with the neutral axis of the bea...

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Bibliographic Details
Published in:	IEEE transactions on robotics and automation 1995-12, Vol.11 (6), p.882-887
Main Authors:	Yamanaka, K., Heppler, G.R., Huseyin, K.
Format:	Article
Language:	eng
Subjects:	Angular velocity Applied sciences Approximation theory Boundary conditions Computer science control theory systems Control theory. Systems Displays Dynamics Elastic moduli Equations Equations of motion Exact sciences and technology Frequency Gyroscopes Loads (forces) Manipulator dynamics Mathematical model Mathematical models Mechanical engineering Mobile robots Natural frequencies Robotics Robots Rotors Stability Stiffness matrix System stability Wheels
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Summary:	A mathematical model of a Euler-Bernoulli beam with a discrete gyroscopic element, consisting of a single rotor located at the tip of the beam, is presented. The rotor is assumed to have a constant angular velocity and an axis of inertial symmetry which is coincident with the neutral axis of the beam. The governing equations of motion and corresponding boundary conditions are derived when the system is subject to conservative external loads. It is shown that these systems can display both static instabilities (divergence) and dynamic instabilities (flutter), that the structure of the stability regions depends on the distribution of stiffness and that gyroscopic stabilization is sometimes possible.
ISSN:	1042-296X 2374-958X