Dynamic Analysis of Flexible-Link and Flexible-Joint Robots
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摘要: 研究由N柔性杆和N柔性铰组成的空间机器人的动力学问题.把柔性铰简化成一个线性扭转弹簧,采用假设模态法表示杆件的弹性变形,运用Kane方法对全柔机器人进行动力学建模,推导出完整的系统动力学方程组.通过一个数值仿真算例,验证所做工作的可行性,并分析了柔性效应对机器人动力学响应的影响.Abstract: The dynamic modeling and simulation of an N-flexible-link and N-flexible-joint robot was reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes was adopted to describe the deformation of the flexible-link. The complete governing equations of motion of the flexible-link-joint robots were derived via Kane's method. An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots.
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Key words:
- flexible robot /
- dynamics /
- numerical simulation /
- modeling
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