Dynamic Modeling and Simulation of Spatial Robots Considering Dual Flexibility
A dynamic modeling method for spatial robots with dual flexibility is proposed,taking spatial robots with flexible joints and links as the research object.Firstly,the flexible joint is simplified as a linear torsion spring with constant stiffness;Secondly,the displacement field vector of flexible spatial links containing higher-order modal information is described by combining the finite element method with the floating coordinate system method.Then,the flexible joints and spatial links are simplified as two flexible links with unidirectional elastic constraints and a simply supported beam,and the system constraint equation is established by combining the boundary conditions.Finally,a dynamic model of the end effector with small displacement changes is established based on the coordination matrix.The results indicate that the new method takes into account the elastic influence between the flexible joint and the flexible spatial link,resulting in a decrease in absolute deformation and an improvement trajectory accuracy of the end effector in a dual flexible deformation cancellation state.Among them,the deviation range in the z direction is 0-0.31 mm,the deviation range in the x direction is 0-2.68 mm,and the deviation in the y direction is 0-3.02 mm.Therefore,the proposed dynamic modeling method for dual flexible spatial robots is correct and can provide accurate models for system control and vibration analysis.
end effectormultiple flexibilityspatial robotsdynamic analysis
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