A New Approach for Dynamic Modeling of Flexible Manipulators with High Stiffness

摘要

This paper deals with the dynamic modeling of flexible manipulators. Expressing such models analytically is extremely useful in simulation, design, control and identification. To this end, an efficient and systematic approach is proposed for symbolic derivation of dynamic equations. A kinematic formulation based on homogenous transformations and infinitesimal operators is used. In order to obtain simplified model equations for sufficiently stiff manipulators, infinitesimal displacement terms of the order greater than or equal to two are systematically eliminated by using an appropriate algorithm. Lagrangian formalism is adopted to obtain dynamic equations. A serial manipulator, with two degrees of mobility, is considered to verify and illustrate the proposed approach.