Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects  

作　　者：Sijia Chen Dingguo Zhang Jun Liu 

机构地区：[1]Ningbo Institute of Technology,Zhejiang University,Ningbo 315100,China [2]School of Sciences,Nanjing University of Science and Technology,Nanjing 210094,China

出　　处：《Theoretical & Applied Mechanics Letters》2012年第6期25-30,共6页力学快报（英文版）

基　　金：supported by the National Natural Science Foundations of China (10772085,11272155 and 11132007);333 Project of Jiangsu Province,China(BRA2011172);NUST Research Funding,China(2011YBXM32)

摘　　要：The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.

关 键 词：flexible manipulator arm MULTI-LINK flexible joint flexible link dynamic stiffening 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TG315[自动化与计算机技术—控制科学与工程]