Influence of elastic compliance of links on the dynamics and accuracy of a manipulating robot with rotational and translational joints

摘要

We pose problems of dynamic and kinematic control of spatial motions for multilink manipulating robot with elastic links and with rotational and translational joints. These problems are reduced to solving a system of ordinary and partial differential equations of hybrid type in the independent variables. We use a numerical integration algorithm for such systems which was developed earlier for manipulating robots with elastic links of anthropomorphic type. We discuss the difficulties arising in mathematical simulation of manipulating robots with simultaneously rotational and translational joints and with elastic links. To perform a comparative analysis and estimate the positional accuracy for the center of mass of the weight transported by the manipulator, we pose problems of dynamic and kinematic control of spatial motions of a manipulating robots with rigid links and with rotational and translational joints. The resolving equations obtained in this case are based on the Lagrange formalism of the second kind. By way of example, we present the solution of dynamic control problems for elastic and rigid two-link manipulators with one translational and two rotational joints.