A study on a general dynamic modeling method for N-degree of freedom flexible manipulators

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Journal of Vibration and Shock ›› 2020, Vol. 39 ›› Issue (16) : 103-111.

YU Feng1,2，CHEN Xinyuan1,2

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Abstract

Aiming at the complex dynamic modeling process of multi-DOF flexible manipulators, a general method for rigid-flexible coupling dynamic modeling of N-DOF flexible manipulators was proposed.The method is based on the Lagrange equation and the assumed mode method (ASM).According to the modeling method, the symbolic calculation software of the dynamics equation of the N-DOF flexible manipulator was developed.Finally, the position tracking control experiment of a two-degree-of-freedom flexible manipulator was taken as an example, and the dynamic model was automatically generated by the developed software, and a real model was built to verify the consistency of the results, which proves the correctness of the modeling method.Compared with the traditional modeling method, the modeling method can reduce more than 90% of the calculation time, greatly reducing the complexity of the modeling process, and the multi-degree-of-freedom flexible arm dynamics modeling is also universal.

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flexible manipulators / N degrees of freedom / rigid and flexible coupling / dynamics modeling

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YU Feng1,2，CHEN Xinyuan1,2. A study on a general dynamic modeling method for N-degree of freedom flexible manipulators[J]. Journal of Vibration and Shock, 2020, 39(16): 103-111

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