Degree Type

Dissertation

Date of Award

1989

Degree Name

Doctor of Philosophy

Department

Mechanical Engineering

First Advisor

Martin J. Vanderploeg

Abstract

Modeling techniques for an assumed modes model of a planar elastic robot arm with an end mass are examined. Both analytical models and experiments are used to study the effects of assumed mode shape selection. coupling between elastic and gross motions, and gravity upon the accuracy of an assumed modes model.

DOI

https://doi.org/10.31274/rtd-180813-9041

Publisher

Digital Repository @ Iowa State University, http://lib.dr.iastate.edu/

Copyright Owner

Alan Matthew Hufnagel

Language

en

Proquest ID

AAI8920141

File Format

application/pdf

File Size

142 pages

Share

COinS