IMPACT ANALYSIS OF FLEXIBLE MULTI-ARMED TERRESTRIAL ROBOTS

摘要

A nonlinear formulation for the dynamic analysis of aflexible multi-armed terrestrial robot system which issubjected to a sudden collision during its functional use ispresented. Finite rotations and large deformations of thearms are accounted for by using a Timoshenko beam theoryof flexural vibration. Impacts and associated impulsive forcesare incorporated into the formulation using a generalizedimpulse momentum balance. Numerical experimentationsindicate that the use of a geometrically nonlinearTimoshenko beam model that can undergo large referencerotations could have a significant effect on the transientresponse of multi-armed robots subjected to impact loading.