Building dynamic equations of manipulator with flexible links
Abstract
This paper presents the research of general model and building dynamic equations of two flexible links manipulator motion in the horizontal plane. Dynamic modeling is considered with adding factors which are payload, elastic friction, mass and initial moment of rotors. So it is closed to reality. Dynamic equations are derived through finite element method based on Lagrange approach. Dynamic behaviors of the system with payload were simulated like a specific example. The results can be used to building the control system which increases accuracy position of manipulators under influence of elastic displacements of links.
điểm /
đánh giá
Published
2018-03-09
Issue
Section
ARTILES
Copyright belongs to VNU-HCM “Science and Technology Development” Journal. Any copy or reprinting of any form must be permitted by the Journal.