摘要
Thedynamicsformulti-linkspatialflexiblemanipulatorarmsisinvestigated.ThesystemconsideredhereisanN-flexible-linkmanipulatordrivenbyNDC-motorsthroughNrevoluteflexiblejoints.Theflexibilityofeachflexiblejointismodeledasalinearlyelastictorsionalspring,andthemassofthejointisalsoconsidered.Fortheflexibilityofthelink,allofthestretchingdeformation,bendingdeformationandthetorsionaldeformationareincluded.ThecompletegoverningequationsofmotionofthesystemarederivedviatheLagrangeequations.Thenonlineardescriptionofthedeformationfieldoftheflexiblelinkisadoptedinthedynamicmodeling,andthusthedynamicstiffeningeffectsarecaptured.Basedonthismodel,ageneral-purposesoftwarepackagefordynamicsimulationofmulti-linkspatialflexiblemanipulatorarmsisdeveloped.Severalillustrativeexamplesaregiventovalidatethealgorithmpresentedinthispaperandtoindicatethatnotonlydynamicstiffeningeffectsbutalsotheflexibilityofthestructurehassignificantinfluenceonthedynamicperformanceofthemanipulator.
出版日期
2012年06月16日（中国期刊网平台首次上网日期，不代表论文的发表时间）
