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.