Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation
Aiming at the problem that the manipulator operate the flexible load which is constrained by operating environment which the binding force and the load deformation are not easy to control. According to the theory of deformation screw,the dynamics model of the system which manipulator operate the fle...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.024 |
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| _version_ | 1841547437164986368 |
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| author | Liu Qiang Ge Weimin Wang Xiaofeng Zhang Huiyi |
| author_facet | Liu Qiang Ge Weimin Wang Xiaofeng Zhang Huiyi |
| author_sort | Liu Qiang |
| collection | DOAJ |
| description | Aiming at the problem that the manipulator operate the flexible load which is constrained by operating environment which the binding force and the load deformation are not easy to control. According to the theory of deformation screw,the dynamics model of the system which manipulator operate the flexible load is established by combining the Lagrangian equation. The system is decomposed into two subsystems: the rigid manipulator and the flexible load. Their dynamics equations are established respectively. According to the constraint relation between the flexible load and the environmental binding force and the end of the manipulator,the motion equation of the system is deduced. In the case of the operating state of a given manipulator and the environmental binding force or the desired trajectory of each joint drive torque and load end of a given manipulator,the inverse kinetics model and the forward dynamics model of the system are deduced. The effectiveness of the proposed method is verified by a 3 DOF manipulator operate a flexible beam. |
| format | Article |
| id | doaj-art-b5996cafb40447a29493ea38850e484d |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b5996cafb40447a29493ea38850e484d2025-01-10T14:43:12ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-014211111629935725Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator OperationLiu QiangGe WeiminWang XiaofengZhang HuiyiAiming at the problem that the manipulator operate the flexible load which is constrained by operating environment which the binding force and the load deformation are not easy to control. According to the theory of deformation screw,the dynamics model of the system which manipulator operate the flexible load is established by combining the Lagrangian equation. The system is decomposed into two subsystems: the rigid manipulator and the flexible load. Their dynamics equations are established respectively. According to the constraint relation between the flexible load and the environmental binding force and the end of the manipulator,the motion equation of the system is deduced. In the case of the operating state of a given manipulator and the environmental binding force or the desired trajectory of each joint drive torque and load end of a given manipulator,the inverse kinetics model and the forward dynamics model of the system are deduced. The effectiveness of the proposed method is verified by a 3 DOF manipulator operate a flexible beam.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.024Flexible loadDeformation screwLimited movementDynamics |
| spellingShingle | Liu Qiang Ge Weimin Wang Xiaofeng Zhang Huiyi Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation Jixie chuandong Flexible load Deformation screw Limited movement Dynamics |
| title | Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation |
| title_full | Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation |
| title_fullStr | Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation |
| title_full_unstemmed | Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation |
| title_short | Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation |
| title_sort | dynamics modeling and simulation of constrained flexible load with manipulator operation |
| topic | Flexible load Deformation screw Limited movement Dynamics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.03.024 |
| work_keys_str_mv | AT liuqiang dynamicsmodelingandsimulationofconstrainedflexibleloadwithmanipulatoroperation AT geweimin dynamicsmodelingandsimulationofconstrainedflexibleloadwithmanipulatoroperation AT wangxiaofeng dynamicsmodelingandsimulationofconstrainedflexibleloadwithmanipulatoroperation AT zhanghuiyi dynamicsmodelingandsimulationofconstrainedflexibleloadwithmanipulatoroperation |