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Dynamic analysis of flexible-link and flexible-joint robots

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Abstract

The dynamic modeling and simulation of an N-flexible-link and N-flexible-joint 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 flexible-link. 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.

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Authors and Affiliations

  1. School of Sciences, Nanjing University of Science and Technology, Nanjing, 210094, P. R. China

    Zhang Ding-guo Doctor  (章定国)

Authors
  1. Zhang Ding-guo Doctor  (章定国)
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  2. Zhou Sheng-feng  (周胜丰)
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Corresponding author

Correspondence to Zhang Ding-guo Doctor  (章定国).

Additional information

Communicated by FU Yi-ming

Project supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry (SRF for ROCS, SEM)

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Zhang, Dg., Zhou, Sf. Dynamic analysis of flexible-link and flexible-joint robots. Appl Math Mech 27, 695–704 (2006). https://doi.org/10.1007/s10483-006-0516-1

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  • DOI: https://doi.org/10.1007/s10483-006-0516-1

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Chinese Library Classification

2000 Mathematics Subject Classification

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