| DYNAMIC ANALYSIS OF FLEXIBLE-LINK AND FLEXIBLE-JOINT ROBOTS |
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| 引用本文： | 章定国,周胜丰. DYNAMIC ANALYSIS OF FLEXIBLE-LINK AND FLEXIBLE-JOINT ROBOTS[J]. 应用数学和力学(英文版), 2006, 27(5): 695-704. DOI: 10.1007/s 10483-006-0516-1 |
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| 作者姓名： | 章定国 周胜丰 |
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| 作者单位： | School of Sciences Nanjing University of Science and Technology，Nanjing 210094，P. R. China，School of Sciences，Nanjing University of Science and Technology，Nanjing 210094，P. R. China |
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| 基金项目： | Project supported by the Scientific Research Foundation for the Returned 0verseas Chinese Scholars, State Education Ministry （SRF for R0CS, SEM） |
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| 摘 要： | 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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| 关 键 词： | 柔性机器人 动力学 数字模拟 柔性接头 |
| 收稿时间： | 2004-09-16 |
| 修稿时间： | 2005-12-27 |
Dynamic analysis of flexible-link and flexible-joint robots |
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| Professor Ding-guo Zhang Doctor,Sheng-feng Zhou. Dynamic analysis of flexible-link and flexible-joint robots[J]. Applied Mathematics and Mechanics(English Edition), 2006, 27(5): 695-704. DOI: 10.1007/s 10483-006-0516-1 |
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| Authors: | Professor Ding-guo Zhang Doctor Sheng-feng Zhou |
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| Affiliation: | School of Sciences, Nanjing University of Science and Technology, Nanjing 210094, P. R. China |
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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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| Keywords: | flexible robot dynamics numerical simulation modeling |
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