Finite element method to dynamic modelling of an underwater flexible single-link manipulator

In order to control the angular displacement of the hub and to suppress the vibration at the end point of an underwater flexible single-link manipulator system efficiently, it is required to obtain an adequate model of the structure. In this study, a mathematical model of an underwater flexible single-link manipulator system has been developed and modelled as a pinned-free, an Euler-Bernoulli flexible beam using finite element method based on Lagrangian approach analysis. Damping, hub inertia and payload are incorporated in the dynamic model, which is then represented in a state-space form. The simulation algorithm was developed using matlab and its performance, on the basis of accuracy in characterizing the behavior of the manipulator, is assessed.