DYNAMIC MODEL OF TWO-LINK FLEXIBLE

MANIPULATOR IN CONSIDERATION OF

COUPLING DEFORMATION TERMS

DENG Fengyan  HE Xingsuo  LI Liang  ZHANG Juan

(Department of Engineering Mechanics, Northwestern Polytechnical University, Xi’an 710072) 

Abstract: Based on the geometrically nonlinear deformation of continum medium mechanics and the new theory of elastic multibody system, the coupling effect, which is due to the stretching rate and the bending deformation displacements, is considered in the longitudinal and transversal displacement field of the flexible beams. A two-link flexible manipulator is simplified as flexible beams. Then the finite element method and Lagrange’s equations are employed for deriving the coupling dynamical formulations, which are different from zero-order approximate dynamic model and one-order coupling dynamic model. This method can be used to multi-link flexible manipulator. Because of the second order coupling terms and the ‘softer beam effect’ result from the added coupling terms in transversal displacement field, the dynamic model is different from the traditional dynamic model. Finally, the numerical simulation illustrates not only the difference, but also the character and validity of the new model.

Key words: Flexible beam Flexible manipulator Coupling deformation terms

CLC No: TH113  O313.7

Received 20051027, received in revised form 20060220