An Efficient Method for the Dynamical Modeling of Serial Elastic Link/Joint Robots

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• 关键词：Dynamical modeling ; Elastic multibody systems ; Ritz approximation ; Ansatz functions ; Eigenfrequencies
• 刊名：Lecture Notes in Computer Science
• 出版年：2015
• 出版时间：2015
• 年：2015
• 卷：9520
• 期：1
• 页码：689-697
• 全文大小：642 KB
• 参考文献：1.Gattringer, H.: Starr-elastische Robotersysteme: Theorie und Anwendungen. Springer, Heidelberg (2011)CrossRef
  2.Bremer, H.: Elastic Multibody Dynamics: A Direct Ritz Approach. Springer, Heidelberg (2008)CrossRef MATH
  3.Dwivedy, S.K., Eberhard, P.: Dynamic analysis of flexible manipulators, a literature review. Mech. Mach. Theorie 41(7), 749–777 (2006)MathSciNet CrossRef MATH
  4.Höbarth, W., Gattringer, H., Bremer, H.: Modeling and control of an articulated robot with flexible links/joints. In: Proceedings of the 9th International Conference on Motion and Vibration Control (2008)
  5.Kleemann, U.: Regelung elastischer Roboter, VDI-Verlag (1989)
  6.Pfeiffer, F. (ed.): Mechanical System Dynamic. LNACM, vol. 40. Springer, Heidelberg (2008)MATH
  7.Staufer, P., Gattringer, H.: State estimation on flexible robots using accelerometers and angular rate sensors. Mechatronics 22, 1042–1049 (2012)CrossRef
  
• 作者单位：Hubert Gattringer (16)
  Klemens Springer (16)
  Andreas Müller (16)
  Matthias Jörgl (17)
  
  16. Institute of Robotics, Johannes Kepler University Linz, Altenbergerstr. 69, 4040, Linz, Austria
  17. Trotec GmbH, 4614, Machtrenk, Austria
  
• 丛书名：Computer Aided Systems Theory ᾿EUROCAST 2015
• ISBN：978-3-319-27340-2
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349

文摘

This paper treats the dynamical modeling of elastic robots. A structured way to do this is the usage of the Projection Equation in subsystem representation in combination with the Ritz approximation method for the structural elastic degrees of freedom. Typical subsystems for such robots contain a motor, an elastic gear, an elastic link and a tip mass. Also the effect of dynamical stiffening is treated in the subsystem formulation. A final projection into the minimal space leads to the equations of motion for the whole robot. This model is analyzed in detail regarding the choice of ansatz functions for the elastic degrees of freedom. Therefore, the eigenfrequencies resulting from a linearized model are compared when using different ansatz functions. Finally, the influence of dynamical stiffening w.r.t eigenfrequencies is discussed.