Dynamics Modeling and Simulation of Planar Serial Rigid-flexible Manipulators
Authors
Piaoshi Zhang, Jubao Liu, Yuanqiang Xia, Sheng Gao
Corresponding Author
Piaoshi Zhang
Available Online April 2015.
- DOI
- 10.2991/isrme-15.2015.58How to use a DOI?
- Keywords
- Rigid-Flexible; Serial Manipulator; Dynamics Modeling; Symbol Derivation
- Abstract
Dynamics modeling and its Matlab symbol derivation are proposed for serial rigid-flexible manipulators in terms of Lagrange approach, which has the properties of clear structure and standard format. Deformation of flexible link is described by Finite Element Method (FEM), and motion of any node can be obtained on the basis of homogeneous coordinate and matrix transformation. Different types of rigid-flexible manipulators can be implemented by the modeling and derivation method.
- Copyright
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Piaoshi Zhang AU - Jubao Liu AU - Yuanqiang Xia AU - Sheng Gao PY - 2015/04 DA - 2015/04 TI - Dynamics Modeling and Simulation of Planar Serial Rigid-flexible Manipulators BT - Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering PB - Atlantis Press SP - 249 EP - 252 SN - 1951-6851 UR - https://doi.org/10.2991/isrme-15.2015.58 DO - 10.2991/isrme-15.2015.58 ID - Zhang2015/04 ER -