Using Multirigid-body Method For The Simulation Of Two Flexible Manipulators

The cooperative flexible manipulators system has many advantages, such as low consumption, small drivers, high speed and great ratio of load to weight and high reliability. When applied to the field of military affairs, aeronautics, medicine and so on it has more prominent predominance than single manipulator. Therefore, the cooperative flexible manipulator system has been one of the hottest topics of robot research. In this paper, the dynamic models of two cooperative flexible manipulator is developed base on the finite segment method then the dynamics are discussed.First, the finite segment method is adopted to establish the discrete models of flexible manipulator. Based on the small elastic deformations, transformation matrix of reference frame to the foundation and other kinematics matrixs are developed. According to Kane's equations, the dynamic models of flexible manipulator is proposed.Then,according to the proposed dynamic models of flexible manipulator and the kinematic and dynamic constrains of the cooperation,by using Kane's equations, the dynamic models of two flexible manipulator cooperating a rigid body are developed. Finally, a example is presented to demonstrate the feasibility of this method.