2011年 第6卷 第2期
《机械工程前沿（英文）》 >> 2011年 第6卷 第2期 doi: 10.1007/s11465-011-0218-y
Nonlinear dynamic analysis for elastic robotic arms
1. Robotic Research Lab, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
2. Mechanical Engineering department, Islamic Azad University, Damavand Branch, Damavand, Iran
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摘要
The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and joints. The main contribution of the paper is the comparative assessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic systems. Numerical simulations comprising both methods are carried out and results are discussed. Hence, advantages and disadvantages of each method are illustrated. Then, adding the joint flexibility to the system is dealt with and the obtained model is demonstrated. Finally, a brief description of the optimal motion generation is presented and the simulation is carried out to investigate the role of robot dynamic modeling in the control of robots.
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