Dymamics of a rotating flexible manipulator with tip load

The dynamics of a flexible manipulator is investigated in this paper. From the point of view of dynamic blance, the motion equations of a rotating beam with tip load are established by using Hamilton's principle. By taking into account the effects of dynamic stiffening and dynamic softening, the stability of the system is proved by employing Lyapunov's approach. Furthermore, the method of power series is proposed to find the exact solution of the eigenvalue problem. The effects of rotating speed and tip load on the vibration behavior of the flexible manipulator are shown in numerical results. Supported by National Natural Science Foundation. of China