A Novel Model Analysis Method and Dynamic Modelling for Hybrid Structure Flexible Manipulator
Teng Long; En Li; Guodong Yang; Zize Liang; Teng Long, En Li, Guodong Yang, Zize Liang
2016
会议名称IEEE International Conference on Mechatronics & Automation
会议录名称Proceedings of IEEE International Conference on Mechatronics & Automation
会议日期2016.8
会议地点Harbin
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.
关键词Dynamic Modelling
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12097
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Teng Long, En Li, Guodong Yang, Zize Liang
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],2016.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
A Novel Model Analys(383KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Teng Long]的文章
[En Li]的文章
[Guodong Yang]的文章
百度学术
百度学术中相似的文章
[Teng Long]的文章
[En Li]的文章
[Guodong Yang]的文章
必应学术
必应学术中相似的文章
[Teng Long]的文章
[En Li]的文章
[Guodong Yang]的文章
相关权益政策
暂无数据
收藏/分享
文件名: A Novel Model Analysis Method and Dynamic Modelling for Hybrid Structure Flexible Manipulator.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。