Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering

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
https://doi.org/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/).

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Volume Title
Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering
Series
Advances in Intelligent Systems Research
Publication Date
April 2015
ISBN
978-94-62520-59-2
ISSN
1951-6851
DOI
https://doi.org/10.2991/isrme-15.2015.58How to use a DOI?
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  - https://doi.org/10.2991/isrme-15.2015.58
ID  - Zhang2015/04
ER  -