柔性铰机器人动力学仿真

考虑关节的柔性,把关节柔性简化成一个线性扭转弹簧。然后利用拉格朗日方法推导出完整的动力学方程。该方程有两组相互耦合的动力学方程组成,一组为通常的多刚体动力学方程,一组为铰柔性产生的动力学方程。并且利用了一个数值模拟例子研究了柔性铰对机器人动力学响应的影响。其中考虑了关节的柔性所产生的动力学方程更为精确,因此在机器人动力学建模和控制中要充分考虑到柔性的影响。

Dynamics Simulation of Flexible-joint Robots

The dynamic equation through Lagrange method can be got on the condition of considering the flexibility of joint. It regards the elasticity of the ith joint as a linear torsional spring with stiffness ki. The model equations consist of two coupled dynamic systems, one represents the usual rigid body and the other the fast dynamics introduced by the joint flexibility. The conclusion of the example shows the effect of joint flexibility on dynamics of robot. It is obvious that equations consider joint flexibility is more accurate. So it is important to consider the flexibility of joint in modeling and controlling robot.