ZHANG Ding-guo, ZHOU Sheng-feng. Dynamic Analysis of Flexible-Link and Flexible-Joint Robots[J]. Applied Mathematics and Mechanics, 2006, 27(5): 615-623.
Citation: ZHANG Ding-guo, ZHOU Sheng-feng. Dynamic Analysis of Flexible-Link and Flexible-Joint Robots[J]. Applied Mathematics and Mechanics, 2006, 27(5): 615-623.

Dynamic Analysis of Flexible-Link and Flexible-Joint Robots

  • Received Date: 2004-09-16
  • Rev Recd Date: 2005-12-27
  • Publish Date: 2006-05-15
  • 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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