Nonlinear Formulation of Flexible-Link Robots Based on Finite Element Approach
نویسندگان
چکیده
This paper presents a nonlinear formulation to model flexible-link robots based on finite element approach. To derive nonlinear dynamic equations of the flexible-link robot, links are modeled by some finite elements, and Lagrange’s principle is used for dynamic modeling. A local coordinate system is attached to each link and the local displacement of an arbitrary point is formulated based on nodal coordinates and shape functions of beam element. Then by a transformation matrix, total displacement of the robot is presented. Finally the nonlinear dynamic model of the system is developed and formulated.
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