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

作　　者：章定国 

机构地区：[1]School of Sciences,Nanjing University of Science and Technology

出　　处：《Applied Mathematics and Mechanics(English Edition)》2009年第10期1283-1294,共12页应用数学和力学（英文版）

基　　金：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);the Qing Lan Project of Jiangsu Province

摘　　要：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.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.

关 键 词：flexible manipulator arm dynamics numerical simulation modeling 

分 类 号：O313.7[理学—一般力学与力学基础]