Simulation Analysis of Redundant Flexible Robots Cooperating Rigid and Flexible Payload

摘要

The dynamic model of redundant flexible robots cooperating flexible payload is first established by using finite element method. The simulation analysis of redundant flexible robots cooperating rigid and flexible payload doing different tasks is done for the first time. It is pointed out that system performance is affected by working space and initial configuration. They should be selected properly in robot design to improve system performance. If the sizes of payloads are close to or bigger than the manipulators, and they have similar or smaller stiffness, the flexibility of the payloads should be considered in robot system when high precision is required.