Analysis of the vertical oscillations of planar articulated boom (fusion reactor maintenance)

Proposes a procedure for the generation of a mathematical model for the vertical oscillations of a planar articulated boom with flexible links and joints. Although the procedure for the generation of the model is quite general, the authors focus attention on a planar manipulator used for the maintenance operations in a large fusion reactor of tokamak. Aim of the study is the evaluation of the dynamic oscillations in the vertical plane induced by external forces in the vertical direction or by the horizontal movements of the boom. >