A dynamic model of the flexible manipulator with variable crosssection 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 crosssections 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 crosssection shape without changing its mass.
ZHAO Jun1,YU Haidong2
. Dynamic Analysis of TwoLink Flexible Manipulators Based on
the Absolute Nodal Coordinate Formulation [J]. Journal of Shanghai Jiaotong University, 2017
, 51(10)
: 1160
-1165
.
DOI: 10.16183/j.cnki.jsjtu.2017.10.002
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