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Impact dynamic modeling and simulation of robots with flexible links and flexible joints


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Impact dynamic modeling and simulation of robots with flexible links and flexible joints
Qian Zhenjie1Zhang Dingguo1Liu Jun1Hong Jiazhen2
1.School of Sciences,NUST,Nanjing 210094,China; 2.Department of Engineering Mechanics,Shanghai Jiaotong University,Shanghai 200240,China
flexible links flexible joints robots impact dynamics high-order coupling
In order to study the effects of the flexibility of links and joints on impact dynamics of flexible systems,the impact dynamics of flexible robots consisting of n links and n revolute joints are modeled and simulated based on the high-order rigid-flexible coupling dynamic theory.All the stretching deformations,bending deformations and the torsional deformations of the flexible links are considered,and the flexibility and the masses of the joints are contained.The Hertzian contact theory and the nonlinear damping theory are adopted to describe the impact forces.The concept of impact force potential energy is introduced,so that the generalized impact forces can be computed easily by employing Lagrange's equations.The impact dynamic equations of the flexible robots are obtained.A software package for the global dynamic simulation of flexible robots containing impact is developed.The dynamic simulations of two examples are given to investigate the influence of high-order coupling and joints flexibility on impact dynamics of the flexible robots,and verify the feasibility of the method presented here.


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Last Update: 2013-03-25