Modeling of Flexible Manipulators Using Virtual Rigid Links and Passive Joints
Modeling of Flexible Manipulators Using Virtual Rigid Links and Passive Joints
复制标题
使用虚拟刚性连杆和被动关节的柔性机械手建模
DOI：
10.1177/027836499601500305
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发表时间：
1991
期刊：
影响因子：
--
通讯作者：
K. Hosoda
中科院分区：
文献类型：
--
作者：
T. Yoshikawa;K. Hosoda
为了建立柔性机械手的动力学模型，提出了一种采用虚拟刚性连杆和被动连杆的建模方案。每个连杆单独建模，并通过连接连杆的模型，得到整个柔性臂的模型。通过测量真实的柔性杆的特性，辨识出各杆的模型参数。采用这种建模方案，可以很容易地建立多连杆柔性臂的模型，而不需要考虑边界条件，并且易于理解整个柔性臂模型的机理。那么一个N度的运动方程利用该建模方案对自由度柔性机械臂进行了动力学仿真，仿真和实验结果表明了该建模方案的有效性。
In this article, to derive a dynamic model of a flexible manip ulator, a modeling scheme using virtual rigid links and passive jnints is proposed. Each link is modeled individually, and by connecting models of links, a model of the whole flexible arm is obtained. Parameters of the model of each link are identified by measuring characteristics of the real flexible link. Using this modeling scheme, it is easy to make a model of a multi-link flexible arm without taking the boundary conditions into ac count, and it is easy to understand the mechanism of the model of the whole flexible arm. First, the modeling scheme is proposed; then the equations of motion of an N-degree-of-freedom flexible manipulator using this modeling scheme are derived to simulate its dynamic behavior The results of simulation and experiment show the validity of this modeling scheme.