Dynamic Models of Robots with Elastic Hinges

摘要

Two dynamic models of robots with elastic hinges are considered. Dynamic models are the implementation of the method based on the Lagrange equation using the transformation matrices of elastic coordinates. Dynamic models make it possible to determine the elastic deviations from programmed motion trajectories caused by elastic deformations in hinges, which are taken into account in directions of change of the corresponding generalized coordinates. One model is the exact implementation of the Lagrange method and makes it possible to determine the total elastic deviation of the robot from the programmed motion trajectory. Another dynamic model is approximated and makes it possible to determine small elastic quasi-static deviations and elastic vibrations. The results of modeling the dynamics by two models are compared to the example of a two-link manipulator system. The considered models can be used when performing investigations of the mathematical accuracy of the robots.