Inclusion of shear deformation term to improve accuracy in flexible-link robot modelling

被引：5

作者：

Morris, AS

Madani, A

机构：

[1] Dept. Automat. Contr. and Syst. Eng., University of Sheffield, Sheffield S1 3JD, Mappin Street

来源：

MECHATRONICS | 1996年 / 6卷 / 06期

关键词：

D O I：

10.1016/0957-4158(96)00014-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of developing a static and dynamic model of a single flexible manipulator link which is of sufficient accuracy for use in a multi-flexible-link system is considered. Although flexible link modelling has received much attention in the past, none of the models developed have adequate accuracy for application in a multi-link system. Very high modelling accuracy is necessary because there is significant inter-link coupling in a flexible manipulator and any modelling errors are therefore cumulative. Previous work based on an assumed mode model has made some progress towards improving accuracy by including a correction factor derived from finite element analysis, and the work reported here extends this by including a shear deformation term in the equations. The significant improvements in modelling accuracy thereby achieved are demonstrated by simulations of link motion. Copyright (C) 1996 Elsevier Science Ltd.

引用

页码：631 / 647

页数：17