The discretization methods of the dynamics of flexible manipulator system
The dynamics of the flexible manipulator system are investigated by assumed mode method, finite element method, Bezier curve interpolation method and B-spline curve interpolation method in this paper.The longitudinal deformation and the transverse deformation of the flexible beam are considered and the coupling term of the deformation which is caused by transverse deformation is included in the expression of longitudinal deformation.First, the separation of variables is used to discretize the deformation of flexible beam.The dynamic equations are established via employing the second kind of Lagranges equation.At the end of this paper, the comparative analysis of the results using four discrete methods is given.Four cases are considered in the simulation.One is the dynamics study in non-inertial system which the large motion of a system is known; the second one is that the large motion of a system is unknown; the third one is a flexible single link manipulator with gravity; the last one is double flexible links manipulator with gravity.According to the simulation results, four different kinds of discrete methods can be well applied to the multiple flexible manipulators.
Ji-Hua Fan Ding-Guo Zhang
School of ScienceNanjing University of Science andTechnologyNanjing，Jiangsu，210094，China School of Science Nanjing University of Science and Technology Nanjing，Jiangsu，210094，China
国际会议
上海
英文
1-16
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）