New method for the dynamic analysis of robot manipulators with flexible links

摘要

This paper presents a new method for the Kineto-Elastodynamic analysis of robotic 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 a general complex elastic manipulators with nonlinear rigid-body and elastic motion coupling terms. The method proposed in this paper is computationally efficient through two special treatments in dynamics. In addition, it can be used in the dynamic analysis of robotic manipulators and spatial open loop mechanisms.