A Novel Model Analysis Method and Dynamic Modelling for Hybrid Structure Flexible Manipulator

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	A Novel Model Analysis Method and Dynamic Modelling for Hybrid Structure Flexible Manipulator
	Teng Long; En Li; Guodong Yang; Zize Liang
	2016
会议名称	IEEE International Conference on Mechatronics & Automation
会议日期	2016.8
会议地点	Harbin
关键词	Dynamic Modelling
通讯作者	Teng Long, En Li, Guodong Yang, Zize Liang
英文摘要	Tip deflection and vibration have a large impact on the manipulator operation safety, and hybrid structure flexible manipulator has a larger workspace and more flexibility. In this paper, a new modeling scheme for a hybrid structure flexible manipulator is proposed. In the proposed scheme, the joint variables of hybrid structure flexible manipulator are divided in rigid joint angle and small joint angle deviations. The prismatic joint is divided into three segments according to the structure features of flexible manipulator. The three segments are the foundation segment, overlap segment and extension segment. Each segment is modeled by the theory of the Euler-Bernoulli beam, and the elastic deflection is described by assumed mode method, the kinetic energy and potential energy of every segment is analyzed respectively. Base on the previous researches of modeling for multi-link flexible manipulator, the dynamic equations of the manipulator are obtained by using the Lagrangian approach. In order to verify the correctness of model and analyze the characteristics of model, the comparative simulation experiments are designed. Tip vibration, angle deviation, vibration frequency and amplitude are observed, and the characteristics of the model are analyzed according to the experiment results.
收录类别	EI
会议录	Proceedings of IEEE International Conference on Mechatronics & Automation
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/12097]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队自动化研究所_复杂系统管理与控制国家重点实验室
推荐引用方式 GB/T 7714	Teng Long,En Li,Guodong Yang,et al. A Novel Model Analysis Method and Dynamic Modelling for Hybrid Structure Flexible Manipulator[C]. 见:IEEE International Conference on Mechatronics & Automation. Harbin. 2016.8.