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TECHNICAL BRIEFS

New Dynamic Modeling of Flexible-Link Robots

[+] Author and Article Information
Ho-Hoon Lee

Department of Mechanical Engineering,  Tulane University, New Orleans, LA 70118hhlee@tulane.edu

J. Dyn. Sys., Meas., Control 127(2), 307-309 (Dec 12, 2003) (3 pages) doi:10.1115/1.1902843 History: Received June 24, 2003; Revised December 12, 2003

This paper shows that the conventional Lagrangian modeling of flexible-link robots does not fully incorporate the bending mechanism of flexible links. The conventional link deflection model allows free link elongation in addition to link deflection; the link elongation increases as link deflection increases. The link elongation, however, causes certain degrees of modeling inaccuracy in association with the rotational motion of the links. Therefore, this paper proposes a new link deflection model, compatible with the bending mechanism of flexible links. Then a new nonlinear dynamic model is derived based on the new link deflection model, fixing the modeling inaccuracy of the conventional dynamic model.

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Copyright © 2005 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

Flexible-link robot with its conventional link deflection model

Grahic Jump Location
Figure 2

Horizontal two-link rigid robot

Grahic Jump Location
Figure 3

Flexible-link robot with a new link deflection model

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