New Dynamic Modeling of Flexible-Link Robots

This paper shows that the conventional Lagrangian modeling offlexible-link robots does not fully incorporate the bending mecha-nism of flexible links. The conventional link deflection model al-lows free link elongation in addition to link deflection; the linkelongation increases as link deflection increases. The link elonga-tion, however, causes certain degrees of modeling inaccuracy inassociation with the rotational motion of the links. Therefore, thispaper proposes a new link deflection model, compatible with thebending mechanism of flexible links. Then a new nonlinear dy-namic model is derived based on the new link deflection model,fixing the modeling inaccuracy of the conventional dynamicmodel. fDOI: 10.1115/1.1902843g

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