Finite Element Analysis of Flexibility in Mobile Robotic Manipulators

摘要

Robotic manipulators mounted on vehicles are being considered for a number of applications. Since, the dynamic performance of the systems is affected by the flexibility of the manipulator and vehicle suspensions, the analytical methods are required to model their dynamic behaviour. This paper presents an effective method that models spatial dynamic behaviour by considering the non- linear dynamic characteristics, which result from its manipulator gross motions and accounts for spatial vibrations due to the distributed mass and flexibility of manipulator and vehicle, and includes the effects of the manipulator and vehicle control systems.