Open AccessRecursive Formulation for Dynamic Modeling and Simulation of Multilink Spatial Flexible Robotic Manipulators
Author(s) -
Zhenjie Qian,
Dingguo Zhang,
Jun Liu
Publication year - 2013
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1155/2013/216014
Subject(s) - nonlinear system , computation , transversal (combinatorics) , equations of motion , spring (device) , deformation (meteorology) , computer science , motion (physics) , joint (building) , software , control theory (sociology) , mathematics , mathematical analysis , algorithm , structural engineering , engineering , classical mechanics , physics , artificial intelligence , control (management) , quantum mechanics , meteorology , programming language
The dynamics for spatial manipulator arms consisting of n flexible links and n flexible joints is presented. All the transversal, longitudinal, and torsional deformation of flexible links are considered. Within the total longitudinal deformation, the nonlinear coupling term, also known as the longitudinal shortening caused by transversal deformation, also is considered here. Each flexible joint is modeled as a linearly elastic torsional spring, and the mass of joint is considered. Lagrange's equations are adopted to derive the governing equations of motion of the system. The algorithmic procedure is based on recursive formulation using 4 × 4 homogenous transformation matrices where all the kinematical expressions as well as the final equations of motion are suited for computation. A corresponding general-purpose C++ software package for dynamic simulation is developed. Several examples are simulated to illustrate the performance of the algorithm