Dynamic Modeling Of Flexible Robots Cooperating A Flexible Payload

The robotics research has gone through a process from single rigid robot to multi coordinated flexible robots, from rigid payload to flexible payload. The topics of cooperating robot manipulators and flexible arms have attracted much attention within the robotics community. The coordination of flexible robot manipulators has both advantages of these two fields. However, most of these works were limited in flexible robot manipulators cooperating rigid payload so far. In this dissertation, the cooperation of flexible arms manipulating a flexible payload is studied in the different system dynamic models and numerical simulation analysis.By selecting Leader grasps payload and Follower grasps payload as reference, respectively, the coordinated constraints of the flexible system is obtained. Then dynamic models of the cooperating flexible arms manipulating a flexible payload are established by using Finite Element Method and Lagrange Equations. A numerical simulation of two flexible three-link arms manipulating a flexible beam is presented. The result shows fully that the selection of references has little effect on dynamics of flexible cooperative robot manipulators. The reference can be selected arbitrarily in the modeling.Since the manipulators and payload are all flexible, taking the system as a closed loop flexible system and using Finite Element Method, the system dynamic model is established. The simulation with the same example is then presented and the result demonstrates the validity of the two models.