Abstract
This paper presents a new and computationally efficient method for the modelling of flexible robot manipulators. The proposed method avoids the global dynamics by decomposing it to the component dynamics. The component dynamics is established, and is linearized based on the acceleration-based state vector. The transfer matrices for different type of components are created, and the systematic dynamics of a flexible robot manipulator is then established by transferring the state vector from the base to the end-effector without increasing the order of the system matrices. The numerical simulations of a flexible manipulator are conducted for verifying the proposed methodologies.
Keywords
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Dwivedy, S.K., Eberhard, P.: Dynamic analysis of flexible manipulators-a literature review. Mech. Mach. Theory 41, 749–777 (2006)
Zhang, X., Yu, Y.: A new spatial rotor beam element for modeling spatial manipulators with moint and link flexibility. Mech. Mach. Theory 35(3), 403–421 (2000)
Usoro, P.B., Nadira, R., Mahil, S.S.: A finite element/Lagrangian approach to modeling lightweight flexible manipulators. ASME J. Dyn. Syst. Meas. Control 108, 198205 (1986)
Book, W.J.: Recursive Lagrangian dynamics of flexible manipulator arms. Int. J. Rob. Res. 3(3), 87–101 (1984)
Zhang, X., Mills, J.K., Cleghorn, W.L.: Dynamic modeling and experimental validation of a 3-PRR parallel manipulator with flexible intermediate link. J. Intell. Rob. Syst. 50(4), 323–340 (2007)
Ge, S.S., Lee, T.H., Zhu, G.: A new lumping method of a flexible manipulator. In: Proceedings of the American Control Conference, Albuquerque, New Mexico, pp. 1412–1416, June 1997
Carbone, G.: Carbone: stiffness analysis and experimental validation of robotic systems. Front. Mech. Eng. 6, 182–196 (2011)
Kitis, L.: Natural frequencies and mode shapes of flexible mechanisms by a transfer matrix method. Finite Elem. Anal. Des. 6, 267–285 (1990)
Rui, X., He, B., Lu, Y., Lu, W., Wang, G.: Discrete time transfer matrix method for multibody system dynamics. Multibody Syst. Dyn. 14, 317–344 (2005)
Newmark, N.M.: A method of computation for structural dynamics. J. Eng. Mech. Div. Proc. Am. Soc. Civil Eng. 85, 67–94 (1959)
Berzeri, M., Shabana, A.A.: Study of the centrifugal stiffening effect using the finite element absolute nodal coordinate formulation. Technical Report MBS99-5-UIC (2001)
Srensen, R., Iversen, M.R.: Dynamic modeling for wind turbine instability analysis using discrete time transfer matrix method. Master Thesis, Department of Engineering, Aarhus University (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Srensen, R., Iversen, M.R., Zhang, X. (2015). Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_36
Download citation
DOI: https://doi.org/10.1007/978-3-319-18126-4_36
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-18125-7
Online ISBN: 978-3-319-18126-4
eBook Packages: EngineeringEngineering (R0)