ZHANG Ding-guo. Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms[J]. Applied Mathematics and Mechanics, 2009, 30(10): 1202-1212. doi: 10.3879/j.issn.1000-0887.2009.10.008
Citation: ZHANG Ding-guo. Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms[J]. Applied Mathematics and Mechanics, 2009, 30(10): 1202-1212. doi: 10.3879/j.issn.1000-0887.2009.10.008

Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

doi: 10.3879/j.issn.1000-0887.2009.10.008
  • Received Date: 2008-08-15
  • Rev Recd Date: 2009-08-16
  • Publish Date: 2009-10-15
  • The dynamics for multi-link spatial flexible manipulatorarm sconsisting of nlinks andnrotary joints is investigated Kinematics of both the rotaryjoint motion and the link deformation were described by 4×4 homogenous transformation matrices, and the Lagrangian equations were used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics was adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link were taken in to account. Based on the presented method a general-purpose soft ware package for dynamic smiulation was developed. To validate the algorithm presented, the dynamic simulation of a spatial flexible manipulatorarm was given as anexample.
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