Impact Dynamics of Multi-Link Robots with Link and Joint Flexibility

Abstract

The dynamic analysis of a flexible-link-joint robot colliding with its environments is presented in this paper. Kinematics of both rotary-joint motion and link deformation is described by 4×4 homogenous transformation matrices. Both the stretching deformation, bending deformation and the torsional deformation of the flexible links are considered. Furthermore, the flexibility and the mass of the joint are considered too. The concept of impact force potential energy is introduced, so that the generalized forces due to the impact force can be computed easily. The Lagrange dynamic equations are used to establish the complete mathematic model of the system with impact. Dynamics simulation of a spatial flexible-link-joint manipulator arm is given as an example to validate the algorithm presented in this paper. And the numerical results indicate that the flexibility of the link and joint have distinguished influence on the impact dynamics of the flexible robots.

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

“…One of the integral parts of a robot's capabilities relates to path planning and collision avoidance. While some of these applications are best solved by artificial intelligence and computer vision [1], many researchers agree that prevention is not enough and a study of the dynamics problems that arise during collision is necessary [2] [3] [4] [5] [6].…”

“…Another popular path of research [6] [22] [23] [24] studies flexible robot structures using a finite element approach. In [6] , the aim is to address issues during impact of lightweight flexible multibody operations which affect the vibrational characteristics of the mechanical system. Accurate models of flexible link-joint dynamics with impact are rarely studied because of their high complexity.…”

“…The proposed method considers flexible links modelled as Euler-Bernoulli beams with high-order approximation coupling terms and flexible joints as a linearly elastic torsional spring with a mass. A simulation of a 2-DOF planar manipulator impact aimed to illustrate the method shows the significance of joint flexibility and high-order geometric nonlinearity of link deformational on end-effector motion [6].…”

Dynamic Characteristics and Restraint Mechanism of Elastically Restrained Connecting Joints on the Flexible Robotic Manipulator

“…Subudhi and Morris [17] discussed the dynamic modeling, simulation, and control of a manipulator with exible links and joints. Qian and Zhang [18] and Malgaca et al [19] investigated the e ect of joint exibility on the dynamic characteristics of the manipulator. Wei et al [20] proposed a global mode method to obtain the reduced-order analytical dynamic model for a signal exible-link exible-joint manipulator.…”

Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints

“…In this case, the elastic deformations and residual vibrations in the flexible links will be coupled with the rigidbody motion of the driving base via the flexible joints [6]; as a result, the FRM conveys rigid-flexible couple and remains a flexible multibody system. Some researchers have proposed the dynamic models of flexible multibody systems with multiple links and joints [5][6][7][8]. In their investigations, the flexible links are modeled as flexible beams and the flexible joints are characterized as tension springs and torsional springs, and the results indicate that the flexible links and flexible joints have significant influences on the dynamic behaviors of the systems.…”