Abstract:
A new procedure
of finite segment modeling is presented in this paper. The
flexibility is introduced into the dynamic equations of Huston's
method with the simplest expressions of stiffness equations. All
of the inertial and elastic couplings are taken into account,
and the effects of shear displacements and warping are also
considered. Hence, the procedure can be used for dynamic
analyses of multibody systems with general cross-sectioned
beam-like members undergoing complex three-dimensional motions
such as flexible robots. The realtions between finite segment
method and finite element method are discovered, with which and
examples the rationality of the modeling procedure is
confirmed.
Key words:
Dynamics Finite segment method Flexible manipulator
*
This project
is supported by National Natural Science Foundation of China.
Manuscript received on August 24, 1990; revised manuscript
September16, 1991
|