In the mechanisms and machines operating at high speeds, the elastic vibration of links is inevitable. In this paper the dynamic modeling and controller design for a flexible four-bar mechanism are studied. The fully coupled non-linear equations of motion are obtained by using the Lagrange’s equations with multipliers for constrained multibody systems. The resulting differential-algebraic equations are solved using numerical methods. A simple PD controller is designed to reduce the influence of the elastic link on the desired motion. |
