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Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms

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Abstract

The dynamics for multi-link spatial flexible manipulator arms consisting of n links and n rotary joints is investigated. Kinematics of both rotary-joint motion and link deformation is described by 4 × 4 homogenous transformation matrices, and the Lagrangian equations are used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics is adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link are taken into account. Based on the present method a general-purpose software package for dynamic simulation is developed. Dynamic simulation of a spatial flexible manipulator arm is given as an example to validate the algorithm.

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Authors and Affiliations

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

    Ding-guo Zhang  (章定国)

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

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Communicated by Li-qun CHEN

Project supported by the National Natural Science Foundation of China (No. 10772085), the Natural Science Foundation of Jiangsu Province (No. BK2007205), the Young Scholar Foundation of Nanjing University of Science and Technology (No. NJUST200504), and the Qing Lan Project of Jiangsu Province

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Zhang, Dg. Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms. Appl. Math. Mech.-Engl. Ed. 30, 1283–1294 (2009). https://doi.org/10.1007/s10483-009-1008-2

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  • DOI: https://doi.org/10.1007/s10483-009-1008-2

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Chinese Library Classification

2000 Mathematics Subject Classification

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