General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators

Xichen Jin; Zhizhong Tong; Haibo Gao

doi:10.1007/978-981-19-9398-5_112

General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators

Xichen Jin
, Zhizhong Tong^*
, Haibo Gao

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator.

Original language	English
Title of host publication	Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022
Editors	Xinjun Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	1831-1853
Number of pages	23
ISBN (Print)	9789811993978
DOIs	https://doi.org/10.1007/978-981-19-9398-5_112
State	Published - 2023
Event	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 - Yantai, China Duration: 30 Jul 2022 → 1 Aug 2022

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022
Country/Territory	China
City	Yantai
Period	30/07/22 → 1/08/22

Keywords

Assumed modes method
Dynamic modeling
Flexible manipulator
Lagrange equation of the second kind
MDOF

Access to Document

10.1007/978-981-19-9398-5_112

Cite this

Jin, X., Tong, Z., & Gao, H. (2023). General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators. In X. Liu (Ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022 (pp. 1831-1853). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-9398-5_112

Jin, Xichen ; Tong, Zhizhong ; Gao, Haibo. / General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators. Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. editor / Xinjun Liu. Springer Science and Business Media Deutschland GmbH, 2023. pp. 1831-1853 (Lecture Notes in Mechanical Engineering).

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title = "General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators",

abstract = "This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange{\textquoteright}s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator.",

keywords = "Assumed modes method, Dynamic modeling, Flexible manipulator, Lagrange equation of the second kind, MDOF",

author = "Xichen Jin and Zhizhong Tong and Haibo Gao",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 ; Conference date: 30-07-2022 Through 01-08-2022",

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doi = "10.1007/978-981-19-9398-5\_112",

language = "英语",

isbn = "9789811993978",

series = "Lecture Notes in Mechanical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "1831--1853",

editor = "Xinjun Liu",

booktitle = "Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022",

address = "德国",

}

Jin, X, Tong, Z & Gao, H 2023, General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators. in X Liu (ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 1831-1853, 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022, Yantai, China, 30/07/22. https://doi.org/10.1007/978-981-19-9398-5_112

General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators. / Jin, Xichen; Tong, Zhizhong; Gao, Haibo.
Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. ed. / Xinjun Liu. Springer Science and Business Media Deutschland GmbH, 2023. p. 1831-1853 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators

AU - Jin, Xichen

AU - Tong, Zhizhong

AU - Gao, Haibo

PY - 2023

Y1 - 2023

N2 - This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator.

AB - This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator.

KW - Assumed modes method

KW - Dynamic modeling

KW - Flexible manipulator

KW - Lagrange equation of the second kind

KW - MDOF

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U2 - 10.1007/978-981-19-9398-5_112

DO - 10.1007/978-981-19-9398-5_112

M3 - 会议稿件

AN - SCOPUS:85163983172

SN - 9789811993978

T3 - Lecture Notes in Mechanical Engineering

SP - 1831

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BT - Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022

A2 - Liu, Xinjun

PB - Springer Science and Business Media Deutschland GmbH

T2 - 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

Y2 - 30 July 2022 through 1 August 2022

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Jin X, Tong Z, Gao H. General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators. In Liu X, editor, Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 1831-1853. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-19-9398-5_112

General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators

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