Distributed parameter models of elexible robot arms.

摘要

The modelling of a flexible robot arm is concerned with its rigid body motion as well as its oscillation due to the elasticity of the arm [1-4]. As the elastic deformation is distributed along the arm, it is obvious that this system is a distributed parameter system. Although a set of partial differential equations is presumed to be the best model for this system, it is limited to a relatively low frequency oscillation of a homogeneous, simply shaped arm. In the case of a more complicated flexible arm, the partial differential equation model is not necessarily advantageous, and another method such as the finite element method will be used. First, this paper presents the detailed development of the partial differential equations and boundary conditions for two models of a flexible robot arm. One is a rigorous model obtained through the use of Timoshenko beam theory, which takes into account the effect of transverse shear deformation and rotary inertia; the other is a simpler and more frequently used model ...