Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects
The dynamics for multi-link spatial flexible manipulator arms is investigated.The system considered here is an N-flexible-link manipulator driven by N DCmotors through N revolute flexible-joints.The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered.For the link’s flexibility, both the stretching deformation, bending deformation and the torsional deformation are included.The complete governing equations of motion of the system are derived via the Lagrangian equations.In the modeling the nonlinear description of the deformation field of the flexible link is adopted, and thus the dynamic stiffening effects are captured.Based on this model, a generalpurpose software package for dynamic simulation of multilink spatial flexible manipulator arms is developed.Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that the dynamic stiffening effects, the flexibility of the structure both have significant influence on the dynamics of the manipulator.
Chen Sijia Zhang Dingguo Liu Jun
School of SciencesNanjing University of Science and TechnologyNanjing,210094,China School of Sciences Nanjing University of Science and Technology Nanjing,210094,China
国际会议
上海
英文
1-9
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）