Continuous Method Of The Collision Dynamics Of Flexible Robot Modeling And Analysis

The flexible robot system contact-impact dynamics is essentially a time varying, nonlinear dynamic process with variable topology, the key to solve the impact dynamics in the flexible robot system is to correctly establish the contact-impact model. On the basis of the previous conclusions, further research has been done in the paper. The system considered here is a robot consisting of n slender, flexible links which are connected by rotary joints. The kinematics of the system is described by 4×4 homogeneous transformation matrices and the mode assumption method is used to described the link deflection. In order to research the system's dynamic behaviors of the contact-impcat process, the Hertzian contact theory and nonlinear damping theory are adopted here. By introducing the concept of impulse potential energy, the generalized impulse-momentum equation is developed which describes the dynamics of a flexible robot with external impacts. The velocity in the resulting equations which have been derived is continuous, so the equations could be solved directly. Then the computer programming is done, and the algorithms ensure the results are reasonable. The dynamic properties of the flexible robot system due to the mode of the robot and its dynamic behaviors during the impacting process are studied through several typical numerical simulation examples, and the validity of the theories and the algorithms established in this dissertation is also verified by those examples. This dissertation discusses the impact dynamics of a flexible robot colliding with its working environments, which is helpful for the dynamic simulation and control of flexible robots.