End Motion Path Analysis of Notched Variable Cross-section Flexible Manipulator Based on 3R Pseudo-Rigid Body Model

Abstract

A wire-driven planar curved notched flexible manipulator with variable cross-section is designed. Based on the Bernoulli Euler beam equation, the end track and rotation angle of the notched flexible manipulator with variable cross-section after applying force is deduced theoretically. In addition, the 3R pseudo rigid body model is used to calculate the end track and rotation angle, and ABAQUS finite element analysis software is used for motion simulation. Then, MATLAB is used for post-processing to obtain the end track of the flexible manipulator. By comparing the track of the 3R pseudo rigid body model with the ABAQUS simulation track, the relative error is obtained. The conclusion proves that the 3R pseudo rigid body model can effectively simulate the end track of a notched flexible manipulator with variable cross-section after bending, which expands a new method for solving the complex end motion problem of a flexible manipulator with variable cross-section, and also broadens the applicable structure of the 3R pseudo rigid body model.