Finite Element approach to dynamicAL

modeling of robot mechanism

Chu Zhongyi  Qu Dongsheng  Sun Lining  Cui Jing

(Robotics Institute, Harbin Institute of Technology, Harbin 150006)

Abstract: A new approach is developed to model dynamic behaviors of robot system. The process is realized through equivalent elements and the equivalent system of forces. Firstly,  the concept of element pseudo-mass matrix is proposed based on the equivalent principle of elements—— the generalized inertia matrix is equal to that of real components, then establishes pseudo-mass matrix of the equivalent system through assembling units normatively, based on finite element thought. Secondly, produces dynamical modeling equations based on the generalized dynamical equation and concepts of the equivalent system and vector of force. The expression is concise, standard and convenient for using with computer normatively. At last, the approach is used to generate the dynamical equations of 2-DOF planar parallel robot mechanism, the results are the same as those of ADAMS simulation.

Key words: Robotic dynamics  Finite element  Equivalent element  Equivalent vector of force

CLC No: TG156

国家863高科技资助项目(2001AA423110). Received 20040104, received in revised form 20040715