Dynamic model and simulation of flexible manipulator based on springs and rigid bodies

2014 ◽  
Author(s):  
Jianhua Zhang ◽  
Ying Tian ◽  
Minglu Zhang
Keyword(s):  
Dynamic Model ◽  
Rigid Bodies ◽  
Flexible Manipulator ◽  
Model And Simulation

New Model with Spring and Simulation of Flexible Manipulator

2014 ◽  
Vol 513-517 ◽  
pp. 3840-3843
Author(s):  
Ying Tian ◽  
Jian Hua Qian ◽  
Qing Song Liu ◽  
Jie Yuan
Keyword(s):  
Computer Simulation ◽  
Dynamic Model ◽  
Elastic Energy ◽  
Lagrange Equation ◽  
Rigid Bodies ◽  
Flexible Manipulator ◽  
Dynamic Parameters ◽  
New Model ◽  
Real Model ◽  
Model Computer

For easily calculated and more accurate dynamic model of single flexible manipulator, a new model was built through connection of spring and two rigid bodies. It is approximate to the real model of single manipulator in trajectory of end point. With simplifying manipulator and introducing simplified and Predetermined elastic energy of manipulator, Lagrange equation was used to built dynamic model based on the new model. And based on dynamic model, computer simulation result of dynamic parameters with Matlab software proved that the new model is available simple and easily-adjusted.

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

scholarly journals Vibration Response and Power Flow Characteristics of a Flexible Manipulator with a Moving Base

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Yufei Liu ◽  
Wei Li ◽  
Xuefeng Yang ◽  
Mengbao Fan ◽  
Yuqiao Wang ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Power Flow ◽  
Flow Characteristics ◽  
Flexible Manipulator ◽  
Rigid Base ◽  
Flexible Beam ◽  
Noticeable Effect ◽  
Moving Base ◽  
Vibration Responses ◽  
Motion Characteristics

Flexible manipulator generally can be modeled as a coupling system with a flexible beam and a rigid moving base. This paper investigates the vibration responses and power flow of a flexible manipulator with a moving base (FMMB). Considering the motion characteristics of the rigid base, the moving base is modeled to have a motion with disturbances, and the dynamic model of the FMMB is established. With the dynamic model, vibration responses of the FMMB for the rigid base having disturbance velocities and accelerations are specifically presented. Subsequently, to investigate the effect of the disturbances on the vibration energy distributions of the FMMB, power flow of the FMMB is exhibited. To verify the dynamic model, an ADAMS physical model of the FMMB is constructed. It reveals that the motion characteristics of the rigid base have a noticeable effect on the vibration responses and power flow of the FMMB and should be considered. The results are significant and contribute to the vibration control of flexible manipulators.

New Dynamic Model and Simulation of the Ballbot Using Reaction Wheels

2018 ◽  
pp. 807-816 ◽  
Author(s):  
Narendra Raja Sekhar ◽  
Mallikarjuna Korrapati ◽  
Roshan Hota ◽  
Cheruvu Siva Kumar
Keyword(s):  
Dynamic Model ◽  
Model And Simulation

A Study on Vibrations of Hexarot-Based High-G Centrifugal Simulators

Robotica ◽  
2019 ◽  
Vol 38 (2) ◽  
pp. 299-316 ◽  
Author(s):  
Siamak Pedrammehr ◽  
Houshyar Asadi ◽  
Saeid Nahavandi
Keyword(s):  
Dynamic Model ◽  
Virtual Work ◽  
Viscous Friction ◽  
Stability Index ◽  
Flexible Manipulator ◽  
Kinematics And Dynamics ◽  
Principle Of Virtual Work ◽  
End Effector ◽  
Dynamic Formulation ◽  
Different Parts

SummaryThis paper investigates the vibrations of hexarot simulators. The generalized modeling of kinematics and dynamics formulation of a hexarot mechanism is addressed. This model considers the flexible manipulator with the base motion. The dynamic formulation has been developed based on the principle of virtual work. The dynamic model consists of the stiffness of the different parts of the mechanism, the effects of gravity and inertia, torque and force related to the joints viscous friction. Finally, the response of the end effector at various frequencies has been presented, and the vibrations of the mechanism and the dynamic stability index have been investigated.

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