Abstract: In this paper, a new idea of
linearizing the dynamic model of flexible robots is put forward.
Based on linearization of the kinematic mode, the decoupled
time-variant linear differential equations, with micro-variables
as generalized coordinates, are deduced from the general dynamic
equations. The numerical computation of a 3-link arm for the
normal dynamic problem is also carried out.
Key words:
Flexible robot Dynamic model Linearizing Normal problem
* This project is supported by Zhejiang Provincial National Natural
Science Foundation of China. Manuscript received on May 18, 1990; revised manuscript
February 28, 1991
|