Method for Dynamic Modeling of Flexible Manipulators
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摘要: 提出一种建立具有柔性关节的多柔杆机器人动力学方程的方法.首先给出了柔性关节及柔性臂杆的简化模型,然后利用Kane方法和假设模态法推导出完整的动力学方程并给出了递推公式.在此基础上利用一个算例研究了臂杆柔性与关节柔性对机器人动力学响应的影响.结果表明:所建立的动力学模型更接近于实际的柔性机器人系统;臂杆柔性与关节柔性都起着非常重要的作用,因此在柔性机器人的动力学建模与控制中应充分考虑它们的影响.Abstract: A method was presented for establishing the dynamic equation of the flexible multi-link manipulator with flexible joints. Firstly, the simplified models of a flexible joint and a flexible link are described respectively, then based on Kane's method and assumptive modes method, the complete dynamic equation of the flexible manipulator is derived and its recursive formulation is given. On this basis, the influence caused by the link flexibility and joint flexibility on the dynamic response is studied using an example. The results show the dynamic model described in this paper is more similar to the actual flexible manipulator system, and both link flexibility and joint flexibility are important in the flexible manipulator system, therefore their influence should be taken fully into account in the dynamic modeling and control of flexible manipulators.
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Key words:
- model building /
- kinetics equations /
- modal analysis /
- flexible manipulator
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1. Spong M W. Modeling and control of elastic joint robots. ASME Journal of Dynamic Systems, Measurement, and Control, 1987, 109:310~319 2. Book W J. Recursive lagrange dynamics of flexible manipulator arms. International Journal of Robotics Research, 1984, 3(3):87~106 3. Smaili A A．A three-node beam element for dynamic analysis of planar manipulators with flexible joints. Mechanisms and Machine Theory, 1993, 23(2):193~206 4. Gaultier P E, Cleghorn W L. A spatially translating and rotating beam finite element for modeling flexible manipulators. Mechanisms and Machine Theory, 1992, 27(4):415~433 5. 马香峰．机器人机构学．北京:机械工业出版社,1991 6. 管贻生,安永辰．机器人手臂弹性动力学分析的Kane方法.机器人,1992,14(1):45~51 -
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