Abstract:The dynamic model, which is established and solved based on the finite element method, is presented in the paper. Then the dynamic coupling character of the flexible joints and flexible links which exist in the manipulator is studied. The results show that the dynamic coupling effect of the flexible joints and links can not be neglected under large payload.
1 Gaultier P E,Cleghorn W L.Modeling of Flexible Manipulator Dynamics:A Literature Survey.1st Nat Appl Mech Conf,Cincinnati,OH,1989:2c-3:1~10 2 Book W J.M odeling,Design,and Control of Flexible Manipulator Arms:A Tutorial Review.Proc the 29th IEEE Conf on Design and Cont rol,1990:500~506 3 Readman M C,B?langer P R.Stabiliz ation of the Fast Modes of a Flexible-joint Robot.The Int J of Robotics Research,1992,(11):123~134 4 Yue Shigang,Yu Yueqing,Bai Shixian.A Superposition Model for Design of Flexible Robots with Elastic Joints ICC,IE'95 Sh angh ai 5 Xi F,Fenton R G.Coupling Effect of a Flexible Link and a Flexible Joint.The Int J of Robotics Research,1994,(13):443~453 6 岳士岗,余跃庆,白师贤.多杆柔性机器人动力学方程的瞬态动响应数值求解方法.机器人,1995,17(5):269~273 7 Gaultier P E,Cleghorn W L.A Spatially Translating and Rotating Finite Element for Modeling Flexible Manipulators.Mech Mach Theory,1992,27:415~433