Dynamics Coupling Analysis of Flexible Underactuated Manipulators

被引：5
|
作者：
Liu J. [1 ]
Wang X. [1 ]
Gong J. [1 ]
机构：
[1] School of Mechanical Engineering, Shandong University of Technology, Zibo, 255049, Shandong
来源：
Zhongguo Jixie Gongcheng | / 22卷 / 2732-2737 and 2746期
关键词：
Coupling analysis; Elastic deformation; Flexible manipulator; Underactuated;
D O I：
10.3969/j.issn.1004-132X.2017.22.013
中图分类号：
学科分类号：
摘要：
To establish flexible 3R underactuated manipulator dynamics equations, Euler-Bernoulli beam model was used with boundary conditions of iterative computations, the flexible robotic arm was coupled with the dynamics simulation. Based on the flexible manipulator modal analyses, the flexible manipulator was regarded as cantilever arm and simply supported free beam model with boundary conditions. A dynamics model of flexible 3R underactuated manipulators was established by assumed mode method. Simulation results show that the addition of boundary conditions for the iterative calculations of the flexible beam model may get a better reflection of the coupling accelerations of freedom joints. Finally, the coupling underactuated indices of flexible and rigid underactuated manipulators were analyzed. The results reveal that the flexible manipulator joints contain more complex coupling situations. The key to control underactuated flexible manipulators is to control the elastic vibrations of flexible manipulators. © 2017, China Mechanical Engineering Magazine Office. All right reserved.
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页码：2732 / 2737and2746
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