Dynamic analysis of flexible-link and flexible-joint robots

被引：0
作者：
Ding-guo Zhang
Sheng-feng Zhou
机构：
[1] Nanjing University of Science and Technology,School of Sciences
来源：
Applied Mathematics and Mechanics | 2006年 / 27卷
关键词：
flexible robot; dynamics; numerical simulation; modeling; O313.7; 37F10;
D O I：
暂无
中图分类号：
学科分类号：
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.
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页码：695 / 704
页数：9
相关论文
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