摘要
The dynamic modeling and simulation of an N-flexible-link and N-flexiblejoint robot is reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes is adopted to describe the deformation of the flexiblelink. The complete governing equations of motion of the flexible-link-joint robots are derived via Kane＇s method. An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots.
The dynamic modeling and simulation of an N-flexible-link and N-flexiblejoint robot is reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes is adopted to describe the deformation of the flexiblelink. The complete governing equations of motion of the flexible-link-joint robots are derived via Kane＇s method. An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots.
基金
Project supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry (SRF for ROCS, SEM)
