DYNAMIC ANALYSIS OF FLEXIBLE-LINK AND FLEXIBLE-JOINT ROBOTS

摘要

The dynamic modeling and simulation of an N-flexible-link and N-flexible joint robot is reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes is adopted to describe the deformation of the flexible-link. The complete governing equations of motion of the flexible-link-joint robots are derived via Kane's method. An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots.