Dynamic Modeling And Control Of A Flexible Joint Robot With Variable Stiffness

With the development of society,the demand for robots in all walks of life is more and more obvious,the performance requirements of robot components are more and more high,there are many factors to be considered in the process of robot research,some flexible problems are difficult to solve.Traditional robot modeling has not been able to meet the rapid development of the era,for the robot a variety of operational requirements of high precision,high speed,low load and other situation analysis,resulting in a large number of errors,and many such as aerospace,emerging industries and the production of precision instruments and so on do not allow errors in the actual work,It must be controlled in a very small range,so the study of robot flexibility is even more important.In this paper,the dynamic modeling of flexible hinge robot considering flexible effect is carried out by Lagrange method,and the coupling deformation of flexible hinge robot rod with tensile,bending and bending deformation as well as the dynamic rigid items produced under high speed motion are fully considered,and the model can be adapted to the motion analysis of most flexible robots.Aiming at various intelligent materials,this paper puts forward the concept of flexible hinge of variable stiffness,compiles a set of program software suitable for dynamic analysis of flexible robot in C language,analyzes the influence of flexible hinge of variable stiffness on the motion of the system by an example,and emphatically analyzes the influence of hinge flexibility on robot motion.In order to facilitate the discussion later,the flexible hinge of variable stiffness can assist to regulate the movement of the end of robot rod to some extent,thus providing a new idea for inverse kinematics.In this paper,the influence of robot flexibility on robot motion under the condition of torsional stiffness of flexible hinge,concentration quality of rod end and change of driving torque is studied respectively.Finally,a numerical example is used to verify the control effect of the flexible hinge of variable stiffness.