Research On Dynamics Of Flexible Link Flexible Joint Robots Considering Joint Damping

In the aerospace,aviation,robot,vehicle,weapon and other engineering fields,many systems can be studied as flexible link flexible joint robots.First,a flexible single-link single-joint robot model with joint damping was established.The deformation of the flexible link in the model considered not only the longitudinal tensile deformation and the lateral bending deformation,but also the longitudinal coupling deformation caused by the lateral deformation of the flexible link.The damping and mass of the flexible joint were also considered in the model.The deformation of the flexible link was described by the hypothetical modal method.The high-order rigid-flexible coupling dynamics equations of the flexible single-link single-joint robot with joint damping were derived via the Lagrangian equations.A program was written by the obtained equations to simulate and analyse the flexible single-link single-joint robot with hinge damping.The effects of joint stiffness and joint damping on the dynamic response of the flexible single-link single-joint robot were investigated.Then,a flexible multi-link multi-joint robot model with joint damping was established.The deformation of the flexible link in the model considered not only the longitudinal tensile deformation,the lateral bending deformation,and the torsional deformation,but also the longitudinal coupling deformation caused by the lateral deformation of the flexible link.The damping and mass of the flexible joints were also considered in the model.The deformation of the flexible link was described by the hypothetical modal method.The high-order rigid-flexible coupling dynamics equations of the flexible single-link single-joint robot with joint damping were derived via the Lagrangian equations and the matrix-recursive method.A program was written by the obtained equations to simulate and analyse the flexible multi-link multi-joint robot with hinge damping.The effects of joint stiffness and joint damping on the dynamic response of the flexible multi-link multi-joint robot were investigated.Finally,the influence of the flexible joint on the robot control was studied with the obtained model.