Modeling of kineto-elastodynamics of robots with flexible links

摘要

This paper presents a new method for the flexibility and kineto-elastodynamics analysis of robot 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 general complex elastic manipulators with nonlinear rigid-body and elastic motion coupling terms. The method proposed in this paper is computationally efficient through several special treatments in dynamics. It can be used in the flexibility analysis of robot manipulators and spatial mechanisms.