Kinematics and dynamics analysis of maintenance manipulator

摘要

A new approach is developed to model dynamic behaviors of robot manipulator. The process is realized through equivalent elements and the equivalent system of forces. Firstly, the concept of element pseudo-mass matrix is proposed based on the equivalent principle of elements, then establishes pseudo-mass matrix of the equivalent system through assembling units normatively, based on finite element thought. Secondly, dynamical modeling equations are produced base on the generalized dynamic equation and concepts of the equivalent system and vector of force. The expression is concise, standard and convenient for using with computer normatively. At last, the approach is used to generate the dynamic equations of five-DOF maintenance manipulator, and the dynamic response of the manipulator is obtained. The results of simulation are the same as those of ADAMS.