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Applied Mathematics and Mechanics

, Volume 30, Issue 10, pp 1283–1294 | Cite as

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

  • Ding-guo Zhang (章定国)Email author
Article

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.

Key words

flexible manipulator arm dynamics numerical simulation modeling 

Chinese Library Classification

O313.7 

2000 Mathematics Subject Classification

37F10 

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Copyright information

© Shanghai University and Springer Berlin Heidelberg 2009

Authors and Affiliations

  1. 1.School of SciencesNanjing University of Science and TechnologyNanjingP. R. China

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