具有弹性关节的柔性杆机械手动力学方程及其数值模拟

The Study of the Dynamic Equations and Numeral Simulation of Flexible Manipulator with Elastic Joint

摘要: 以单杆柔性机械手为例,提出建立具有弹性关节的柔性机械手动力学方程的新方法,并将这种方法与刚度矩阵法对指端误差的影响进行比较.此法可推广到具有弹性关节的柔性多杆机械手中.

Abstract: Taking one-link flexible manipulator as an example, a new method to establish the dynamic equations of flexible manipulator with elastic joint is presented in this paper. Then the influence of the new method on the error of the end effector is compared with that of the stiff matrix method, which shows the new method can be used in multi-links filexible manipulators with elastic joints.