| The system of a flexible robot is a typical multi-body system. Its dynamic problem is quite different from the dynamic problem of a multi-rigid-body system. The dynamic analysis of flexible robots is complicated by the coupling between the large overall rigid motion and the small elastic deformation. Its dynamic problem is academically difficult. It is a challenging problem. The dynamics simulation software package is very important in research and the design of products. Based on the theories of multi-body systems, This paper presented the mathematical model of flexible-joint robots and the mathematical model of flexible robots(flexible-link and flexible-joint). From a numerical simulation, we can find the effect of flexibility on dynamic response. And the theory of dynamic and control is more perfect.The work of this dissertation is shown as follows:1. The paper established dynamic equations of flexible-joint robots and flexible robots(flexible-joint and flexible-link);2. The established dynamic equations are solved effectively;3. A software of numerical simulation is complied;4. Examples are given and the dynamic properties of corresponding robots are studied;... |
PDF Full Text Request