Dynamic Models of Robots with Elastic Hinges

International Conference on Mechanical Engineering, Automation and Control Systems 2015

机械制造;无线电电子学;计算机科学

Krakhmalev, O.N.^1

Bryansk State Technical University, 7, 50 years of October st., Bryansk

241035, Russia^1

关键词: Elastic coordinates;    Elastic vibration;    Generalized coordinates;    Lagrange equation;    Lagrange methods;    Programmed motions;    Transformation matrices;    Two-link manipulator;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/124/1/012068/pdf
DOI  :  10.1088/1757-899X/124/1/012068

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Two dynamic models of robots with elastic hinges are considered. Dynamic models are the implementation of the method based on the Lagrange equation using the transformation matrices of elastic coordinates. Dynamic models make it possible to determine the elastic deviations from programmed motion trajectories caused by elastic deformations in hinges, which are taken into account in directions of change of the corresponding generalized coordinates. One model is the exact implementation of the Lagrange method and makes it possible to determine the total elastic deviation of the robot from the programmed motion trajectory. Another dynamic model is approximated and makes it possible to determine small elastic quasi-static deviations and elastic vibrations. The results of modeling the dynamics by two models are compared to the example of a two-link manipulator system. The considered models can be used when performing investigations of the mathematical accuracy of the robots.