|Table of Contents|

Rigid-flexible Coupling Dynamics of Flexible-link and Flexible-joint Robots Carrying Payload

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2012年01期
Page:
182-188
Research Field:
Publishing date:

Info

Title:
Rigid-flexible Coupling Dynamics of Flexible-link and Flexible-joint Robots Carrying Payload
Author(s):
CHEN Si-jiaZHANG Ding-guo
School of Sciences,NUST,Nanjing 210094,China
Keywords:
flexible-link and flexible-joint robots payloads rigid-flexible coupling dynamics
PACS:
TP242
DOI:
-
Abstract:
To study the influence of the flexible joint and the tip mass on the robot motion response when the flexible robot is in overall motion,the rigid-flexible coupling model of a flexible robot carrying a payload is presented.The flexibility of the flexible joint is modeled as a linearly elastic torsional spring and the mass of the joint is also considered here.Both the transversal deformation and the longitudinal deformation of the flexible link are considered.The nonlinear coupling term,also known as the longitudinal shortening caused by transversal deformation,is considered in the total longitudinal deformation.The approach of assumed modes is used to describe the deformation of the flexible link.The rigid-flexible coupling dynamic equations of the flexible-link and flexible-joint robot carrying a payload are established via employing the second kind of Lagrange ’ s equation.The dynamics of the flexible robot is obtained by solving this mathematical model.Comparing a flexible-link and flexible-joint robot carrying a payload with a flexible-link and flexible-joint robot without payload,we can find that the payload increases the response amplitude,but decreases the response frequency.Comparing a flexible-link and flexible-joint robot with a flexible-link and rigid-joint robot,we can also find that the flexibility of the joint increases the response amplitude,but decreases the response frequency,too.

References:

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Last Update: 2012-10-12