Dynamic analysis of flexible-link and flexible-joint robots

被引：18

作者：

Zhang Ding-guo ^{[1
]}

Zhou Sheng-feng ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Sci, Nanjing 210094, Peoples R China

来源：

APPLIED MATHEMATICS AND MECHANICS-ENGLISH EDITION | 2006年 / 27卷 / 05期

关键词：

flexible robot; dynamics; numerical simulation; modeling;

D O I：

10.1007/s10483-006-0516-1

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

The dynamic modeling and simulation of an N-flexible-link and N-flexible-joint robot is reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes is adopted to describe the deformation of the flexible-link. The complete governing equations of motion of the flexible-link-joint robots are 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.

引用

页码：695 / 704

页数：10

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