Journal of Shanghai Jiaotong University ›› 2017, Vol. 51 ›› Issue (10): 1160-1165.doi: 10.16183/j.cnki.jsjtu.2017.10.002

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Dynamic Analysis of TwoLink Flexible Manipulators Based on
 the Absolute Nodal Coordinate Formulation 

 ZHAO Jun1,YU Haidong2   

  1.  1. School of Automation Engineering, Northeast Dianli University, Jilin 132012, Jilin, China;
    2. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • Online:2017-10-31 Published:2017-10-31
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Abstract:  A dynamic model of the flexible manipulator with variable crosssection is established based on the absolute nodal coordinate formulation. Variable boundary conditions of the link are described with some functions which are used as the upper and lower limits in the integrations to calculate mass matrix and stiffness matrix of the element. With these matrices the dynamic model of the manipulator is proposed by using the Newton equations. Manipulators with different materials and variable crosssections are employed in the numerical simulations. Results show that the increase of elastic modulus can improve the stiffness of structure and reduce its deformation. Kinematic accuracy of the structure can be improved by optimizing crosssection shape without changing its mass.

Key words:  flexible link manipulator, variable crosssection, dynamic behavior, absolute nodal coordinate formulation (ANCF)

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