Dynamic Modeling of an Axially Moving Beam in Rotation: Simulation and Experiment

In this paper, we consider a beam which has a rotational and translational motion. A time-varying partial differential equation and the boundary conditions are derived to describe the lateral deflection of the beam. For multivariable control, an approximated model is also derived by using the assumed mode method. The validity of the approximated model is investigated by the experiment. For different repositional motions, response of the beam is further investigated by computer simulation. Application of the beam to flexible robotic manipulators is discussed with simulation results.