Modeling of kineto-elastodynamics of robots with flexible links

Author

Xu, Xiang-Rong ; Chung, Won-Jee ; Choi, Young-Hyu

Author_Institution

Dept. of Mech. Design & Manuf., Chang-Won Nat. Univ., South Korea

Volume

1

fYear

1999

fDate

1999

Firstpage

753

Abstract

This paper presents a new method for the flexibility and kineto-elastodynamics analysis of robot manipulators. Based on the distributed parameter method the generalized motion equations of robot manipulators with flexible links are derived. The final formulation of the motion equations can be used to model general complex elastic manipulators with nonlinear rigid-body and elastic motion coupling terms. The method proposed in this paper is computationally efficient through several special treatments in dynamics. It can be used in the flexibility analysis of robot manipulators and spatial mechanisms

Keywords

differential equations; distributed parameter systems; flexible manipulators; manipulator dynamics; motion control; differential equations; distributed parameter systems; dynamics; flexibility analysis; flexible links; flexible manipulators; kineto-elastodynamics; motion control; robot manipulators; Couplings; Elasticity; Elastodynamics; End effectors; Finite element methods; Manipulator dynamics; Nonlinear equations; Pulp manufacturing; Robot kinematics; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770065

Filename

770065