Dynamic Analysis of Flexible-Link and Flexible-Joint Robots

ZHANG Ding-guo; ZHOU Sheng-feng

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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.

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.

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Dynamic Analysis of Flexible-Link and Flexible-Joint Robots

School of Sciences, Nanjing University of Science and Technology, Nanjing 210094, P. P. China

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

Abstract

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.
- flexible robot,
- dynamics,
- numerical simulation,
- modeling

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References(18)

References

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