Commenced in January 2007
Paper Count: 31108
A Method for Modeling Flexible Manipulators: Transfer Matrix Method with Finite Segments
Abstract:This paper presents a computationally efficient method for the modeling of robot manipulators with flexible links and joints. This approach combines the Discrete Time Transfer Matrix Method with the Finite Segment Method, in which the flexible links are discretized by a number of rigid segments connected by torsion springs; and the flexibility of joints are modeled by torsion springs. The proposed method avoids the global dynamics and has the advantage of modeling non-uniform manipulators. Experiments and simulations of a single-link flexible manipulator are conducted for verifying the proposed methodologies. The simulations of a three-link robot arm with links and joints flexibility are also performed.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1124669Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1411
 S. K. Dwivedya and P. Eberhardb, Dynamic analysis of flexible manipulators, a literature review, Mech. Mach. Theory, vol. 41, no. 7, pp. 749777, Jul. 2006.
 Zhang X., Mills J. K., and Cleghorn W. L.: Dynamic modeling and experimental validation of a 3-PRR parallel manipulator with flexible intermediate link, Journal of Intelligent and Robotic Systems, 50(4): 323-340 (2007).
 Zhang X., and Yu Y.: A new spatial rotor beam element for modeling spatial manipulators with moint and link flexibility, Mechanism and Machine Theory, 35(3): 403-421 (2000).
 Usoro, P. B. Nadira R., and Mahil S. S.: A finite element/Lagrangian approach to modeling lightweight flexible manipulators, ASME Journal of Dynamic Systems, Measurements, and Control, 108: 198205 (1986).
 Ge S.S.,Lee T.H.,and Zhu G.:A new lumping method of a flexible manipulator,Proceedings of the American Control Conference, Albuquerque, New Mexico, pp.1412-1416, June 1997.
 Dupac M, Noroozi S. Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops (J). Strojniki vestnik-Journal of Mechanical Engineering, 2014, 60(7-8): 475-482.
 Wang Y, Huston R L., A lumped parameter method in the nonlinear analysis of flexible multibody system (J). Computers and Structures, 1994 , 50(3):421-432.
 H. Holzer, Die Berechnung der Drehsenwingungen, Springer, Berlin, Germany, 1921.
 W. T. Thomson ”Matrix solution for the vibration of non-uniform beams, Journal of Applied Mechanics. vol. 17, pp. 337-339, 1950.
 Rui X T, Wang G P, Lu Y Q, et al. Transfer matrix method for linear multibody system. Multibody System Dynamics, 2008, 19(3): 179-207.
 Rui X T, Lu Y Q, Pan L, et al. Discrete time transfer matrix method for multibody system dynamics. Advances in Computational Multibody Dynamics, Lisbon, Portugal, 1999: 93-108.
 Rong B, Rui X, Wang G, et al. Discrete time transfer matrix method for dynamics of multibody system with real-time control (J). Journal of Sound and Vibration, 2010, 329(6): 627-643.
 Rui X T, He B, Rong B, et al. Discrete time transfer matrix method for multi-rigid-flexible-body system moving in plane. Journal of Multi-Body Dynamics, 2009, 223(K1): 23-42
 Srensen R, Iversen M R, Zhang X. Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method (M), Recent Advances in Mechanism Design for Robotics. Springer International Publishing, 2015: 377-386.
 Dokainish, M. A. and Subbaraj, K. A survey of direct time-integration methods in computational structural dynamics, part 1: explicit methods. Comput. Struct., 1989, 32(6), 1371-1386.
 Srensen R., and Iversen M. R.: Dynamic modeling for wind turbine instability analysis using discrete time transfer matrix method, Master Thesis, Department of Engineering, Aarhus University (2014)
 Newmark N M. A method of computation for structural dynamics (J). Journal of the Engineering Mechanics Division, 1959, 85(3): 67-94.