tailieunhanh - Inverse dynamic analyzing of flexible link manipulators with translational and rotational joints

The new model is developed from single flexible link manipulator with only rotational joint. The dynamic equations are built by using finite element method and Lagrange approach. The approximate force of translational joint and torque of rotational joint are found based on rigid model. The simulation results show the values of driving forces at joints of flexible robot with desire path and errors of joint variables between flexible and rigid models. | 42 SCIENCE & TECHNOLOGY DEVELOPMENT, Vol 20, 2017 Inverse dynamic analyzing of flexible link manipulators with translational and rotational joints Bien Xuan Duong, My Anh Chu, and Khoi Bui Phan Abstract— Inverse dynamic problem analyzing of flexible link robot with translational and rotational joints is presented in this work. The new model is developed from single flexible link manipulator with only rotational joint. The dynamic equations are built by using finite element method and Lagrange approach. The approximate force of translational joint and torque of rotational joint are found based on rigid model. The simulation results show the values of driving forces at joints of flexible robot with desire path and errors of joint variables between flexible and rigid models. Elastic displacements of end-effector are shown, respectively. There are remaining issues which need be studied further in future work because the error joints variables in algorithm to solve inverse dynamic problem of flexible with translational joint has not been mentioned yet. Index Terms—Inverse Dynamic , flexible link manipulator, displacements. translational joint, elastic 1 INTRODUCTION ynamic analysis of mechanisms, especially robots, is very important. The dynamic equations of motion represent the behavior of system, so accurate modeling and equations are essential to successfully design of the control system. The analysis of robots considering the elastic characteristics of its members has been considerable attention in recent years. Flexibility in robots can affect position accuracy. Inverse D Manuscript Received on July 13th, 2016. Manuscript Revised December 06th, 2016. Bien Xuan Duong, My Anh Chu are with Military Technical Academy. Email: xuanbien82@. Khoi Bui Phan is with Ha Noi University of Science and Technology, Ha Noi. dynamic of flexible robots is very essential for selecting the actuator and designing the proper control strategy. Most of the .