Applied Mathematics and Mechanics (English Edition), 2006, 27(5):695704 c Editorial Committee of Appl. Math. Mech.

, ISSN 0253-4827

DYNAMIC ANALYSIS OF FLEXIBLE-LINK AND FLEXIBLE-JOINT ROBOTS

ZHANG Ding-guo (

),

ZHOU Sheng-feng (

(School of Sciences, Nanjing University of Science and Technology, Nanjing 210094, P. R. China) (Communicated by FU Yi-ming)

Abstract: The dynamic modeling and simulation of an N -exible-link and N -exiblejoint robot is reported. Each exible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes is adopted to describe the deformation of the exiblelink. The complete governing equations of motion of the exible-link-joint robots are derived via Kanes method. An illustrative example is given to validate the algorithm presented and to show the eects of exibility on the dynamics of robots. Key words: exible robot; dynamics; numerical simulation; modeling Chinese Library Classication: O313.7 2000 Mathematics Subject Classication: 37F10 Digital Object Identier(DOI): 10.1007/s 10483-006-0516-1

Introduction
The multi-rigid-body models with rigid-links and rigid-joints are usually used in the dynamic analysis of robots[12]. However, along with the development of robots towards the high speed and the use of lightweight materials with distributed exibility, the exibility of structure has led to a new and challenging problem in the area of dynamic modeling and control. The traditional multi-rigid-body dynamic models are no longer adequate to describe the dynamical characteristics of these exible mechanical systems precisely and it can even lead to completely wrong conclusions at some critical applications. Increasing interest has arisen to properly account for the inherent exibility of exible robots. The exibility of robots includes link exibility and joint exibility. References [310] studied the dynamics of robots with exiblelinks and rigid-joints, and Refs.[1115] for the dynamics of robots with rigid-links and exiblejoints. Few works[1618] focused on the dynamics of robots with both exible-links and exiblejoints, and only one-link models were given as simulation examples in the works. This paper focuses on the dynamics of exible robots with N links and N joints. The complete governing equations of motion of the exible-link-joint robots are derived via Kanes method. And the corresponding software package is developed. An example is also given to validate the algorithm presented in this paper and to show the eects of exibility on the dynamics of robots.

Physical Model of Flexible Robots

The system considered here is an N -exible-link robot driven by N DC-motors through N revolute exible-joints.
Received Sep.16, 2004; Revised Dec.27, 2005 Project supported by the Scientic Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry (SRF for ROCS, SEM) Corresponding author ZHANG Ding-guo, Professor, Doctor, E-mail: zhangdg419@163.com

696

ZHANG Ding-guo and ZHOU Sheng-feng

1.1 Simplied model of exible-joint Consider a robot with revolute exible-joint and model the elasticity of the ith joint as a linear torsional spring with stiness ki . ki accounts for the stiness of driver and gearing. Let qi be the theoretical rotational angle of link i, i be the torsional angle of the ith joint, i be the real rotational angle of link i, i be the angular displacement of rotor i and Ni be the gear ratio, respectively. The relationships of i = qi + i and i = Ni qi hold. 1.2 Simplied model of exible-link Assume that the links are slender beams. So the rotary inertia and shear eects can be neglected. Therefore, the present analysis is based on the Euler-Bernoulli beam theory. Also assume that the links can undergo large overall rigid motion, however the elastic displacements are small.

Kinematics of Flexible Robots

2.1 Coordinate systems and transformation matrices To express the transformation between dierent coordinate systems clearly, we establish four coordinate systems for link i. Fix coordinate system (Xb Yb Zb )i at the proximal end of link i (oriented so that the Xb is coincide with the neutral axis of link i in its undeformed condition). This will be referred to as the base reference of link i. Fix coordinate system (Xd Yd Zd )i at the distal end of link i. This is the distal frame of link i. When link i is in its undeformed state, the distal frame can be located by a pure translation of the base reference (Xb Yb Zb )i along the length Li of the link. Let (Hx Hy Hz )i and (Hx Hy Hz )i be two Denavit-Hartenberg[1] frames xed at the proximal end (at joint i) and at the distal end (at joint i + 1) of link i, respectively. When joint i is motionless, (Hx Hy Hz )i is coincident with (Hx Hy Hz )i1 , and 1 , the transformation matrix between them, is the function of i . Matrix dH i , matrix HH i i the 4 4 homogeneous transformation matrix between frames (Xd Yd Zd )i and (Hx Hy Hz )i , is a constant matrix. The transformation matrix Hbi of (Hx Hy Hz )i and (Xb Yb Zb )i is also a constant matrix. Dene the joint-transformation matrix Ti of joint i be the transformation matrix from (Xd Yd Zd )i1 to (Xb Yb Zb )i , then
1 Hbi . Ti = dH i1 HH i i

(1)

Obviously Ti is the function of i . Dene Ei be the link-transformation matrix of link i from (Xb Yb Zb )i to (Xd Yd Zd )i . According to the assumption of small deformation of the links, the small deformable angles can be added vectorally. Ei can then be written as Ei = Ei1 + Ei2 , in which Ei1 1 0 = 0 0 0 1 0 0 0 Li 0 0 , 1 0 0 1 0 i 3 = i 2 0 i 3 0 i 1 0 i 2 i 1 0 0 i 1 i 2 i , 3 1 (2)

Ei2

(3)

i i T i i i i T where i = (i 1 , 2 , 3 ) and = (1 , 2 , 3 ) are the elastic angular and linear displacements of link i at the origin of the coordinate (Xd Yd Zd )i , respectively. 1 Dene Ai be the 44 homogeneous transformation matrix from (Xb Yb Zb )i1 to (Xb Yb Zb )i , i then we have 1 1 Ri pi 1 i i , (4) = Ei1 Ti = Ai i 0 1 1 1 where Ri is the 3 3 direction cosine matrix, 0 is the 13 zero matrix, pi is the vector i i from the origin of frame (Xb Yb Zb )i1 to the origin of frame (Xb Yb Zb )i which is expressed in the frame (Xb Yb Zb )i1 .

Dynamics Analysis of Flexible-Link-Joint Robots

697

2.2 Generalized speeds selection Let i and i be the angular and linear displacements resulted from the deformation of link i at position x, respectively. Then i and i can be approximated as i = i =
ni k=1 ni k=1 i i k (x)ek (t),

(5) (6)

i k (x)ei k (t),

where ei k (t), the function of time t, is the k th modal coordinate of link i. ni is the number of i modes of link i. i k , k , the functions of position x, are the k th modal vectors of link i. They i include three components i kj , kj (j =1,2,3), respectively. According to Ref.[18], we select generalized speeds Uj (j = 1, , 2N + Uj = q j , j = 1, , N, j N , j = N + 1, , 2N, Uj = i Uj = e k (t),
i1 N i=1

ni ) as follows

(7) (8) 1 k ni , i = 1, , N. (9)

j = 2N +
r =1

nr + k,

2.3 Kinematical analysis We do kinematical analysis according to Refs.[10,18]. Let i1 and i1 be the angular velocities of frame (Xb Yb Zb )i1 and frame (Xd Yd Zd )i1 , respectively. Upon utilizing the additional theorem for angular velocities, the angular velocity of the frame (Xd Yd Zd )i1 is obtained as i1 = i1 + i1 . (10) 0 = 0, The initial condition for recurrence is 0 = 0, the frame of (Xb Yb Zb )i is

0 = 0. And the angular velocity of i = 1, 2, , N. (11)

i1 i i1 i i = Ri + Hz + Hz U N +i , i = Ri i1 i1

i , can be obtained as Consequently, the j th partial angular velocity of i , j

0 i1 j N Ri = Ri i1 j j N H z i H z i j = 0 i m Rm k 0

(1 j N ), (N < j < N + i), (j = N + i), (N + i < j 2N ),

m 1 r =1 m 1 r =1

(12)

(j = 2N + (j > 2N +

nr + k, 1 k nm , 1 m i 1), nr , m i).

The angular acceleration i of coordinate system (Xb Yb Zb )i , the time derivative of i , is

i1 i1 i N +i H i + Ri ( i1 i = Ri + (Ri ) (UN +i Hz )+U i1 + i1 ). (13) i1 i1 z i1

The velocity of the origin of frame (Xb Yb Zb )i , v i , is

1 i1 i1 ). + i1 pi + v i = Ri i1 (v i

(14)

698

ZHANG Ding-guo and ZHOU Sheng-feng

i And the j th partial velocity of v i , vj , can be obtained as

0 i1 i1 1 Ri + j pi ) i1 (vj i 0 i i1 i1 i1 i vj = Ri1 (vj + j pi ) i1 Ri i1 k 0

(1 j N ), (N < j < N + i), (N + i j 2N ), (2N < j 2N +

i2

i2

r =1

nr ),

(15)

(j = 2N + (j > 2N +

r =1 i1 r =1

nr + k, 1 k ni1 ), nr ).

The acceleration ai of the origin of frame (Xb Yb Zb )i is the time derivative of v i , it is

1 1 i1 i1 + i1 ]. + i1 pi + i1 ( i1 pi ) + 2 i1 ai = Ri i1 [a i i

(16)

The initial condition for recurrence is a0 = g 0 , where g 0 is the acceleration of gravity. i i be the position vector of point p on link i in its undeformed state, and p be the Let rp deformation vector. Then the velocity of the point p is
i i i = v i + i (rp + p )+ vp ni k=1 i And its j th partial velocity vpj is i pk e i k (t).

(17)

i vpj

i1 i i i i vj + j (rp + p ) (j 2N + nr ), r =1 i1 i = pk (j = 2N + nr + k, 1 k ni ), r =1 i 0 nr ). (j > 2N +
r =1

(18)

The acceleration of the point p is

i i i i i i i i i i i ai p = a + (rp + p ) + [ (rp + p )] + 2 p + p .

(19)

Dynamic Equations of Flexible Robots

We will use the Kanes method to analysis the dynamics of system and accord with the method of Refs.[10,18]. 3.1 Generalized active forces When using Kanes method, we must consider not only the generalized active forces caused by all active forces but also the generalized active forces caused by internal forces of exible links and exible joints. Perfect constraints in the joints do not produce any generalized active force. Generalized active forces due to gravity are considered in Eq.(16). Let i be the torque acted at joint i. The j th generalized active force due to torque i is (FA )i j = i , i = j, 0, i = j. (20)

Dynamics Analysis of Flexible-Link-Joint Robots

699

Then the j th generalized active force due to all torques i (i = 1, 2, , N ) is

N

(FA )j =
i=1

(FA )i j =

j , 1 j N, 0, j > N.

(21)

Generalized active forces produced by internal forces of exible links The j th generalized active force produced by bend of the link i is (ignore its pull-compression and torsion) i Li 2 p 2 i (FL )i = E I ( )dx, (22) i i j x2 x2 pj 0 where x is the distance from the origin of the frame (Xb Yb Zb )i to the dierential element at point p before the link i deforms. Ei Ii is the exural rigidity of link i. Finally, the j th generalized active force produced by internal forces of all links is 0, j N, N 0, N < j 2N, (23) (FL )i (FL )j = j = N m 1 m i i=1 ( F ) , 2 N + n < j 2 N + n , 1 m N. L j r r
i=m r =1 r =1

Generalized active forces produced by internal forces of exible joints According to Ref.[18], we can obtain the j th generalized active force produced by internal forces of the ith exible joint as j = i, ki i , i (24) (FJ )j = ki i , j = N + i, 0, j = i, j = N + i. The j th generalized active force produced by internal forces of all exible joints is j N, N kj j , (FJ )i = (FJ )j = kj N j N , N < j 2N, j i=1 0, j > 2N.

(25)

3.2 Generalized inertia forces Generalized inertia forces of system are made up of generalized inertia forces of exible links and generalized inertia forces of rotors. We will calculate these forces as follows: Generalized inertia forces produced by the exible links Let the mass of dierential element at point p of the ith link be dm, then its j th generalized inertia force is i i )j = vpj ai (26) d(FL p dm. Thus the j th generalized inertia force due to link i is
i (FL )j = i i d(FL )j = i i vpj ai p dm.

(27)

Substitution of Eq.(18) into Eq.(27) gives i i i (vj + j rp ) ai p dm i i i )j = (FL pk ai p dm i 0

(j 2N + (j = 2N + (j > 2N +

i1 r =1 i1 r =1 i r =1

nr ), nr + k, 1 k ni ), nr ), (28)

700

ZHANG Ding-guo and ZHOU Sheng-feng

i rp i i i i i = rp + p = rc + rcp + p . i rcp

where
i rc

(29) is the vector from the mass

in Eq.(29) is the position vector of the mass center of link i. center to point p. The rst line of Eq.(28) can be expressed as
i i )j = vj (FL i i i = vj Fi j Ti . i ai p dm j i

i ( rp ai p )dm

(30)

Fi and Ti in Eq.(30) have the following details, respectively, Fi =

i i i i +E i , (31) = Mi [ai + i rc + i ( i rc )] + i E i + i ( i E i ) + 2 i E

ai p dm

where Ei =
i i Ek = i i pk dm, i p dm = i ni k=1 i pk ei k (t)dm = ni k=1 i i Ek ek (t),

and Ti =
i i = (Mi rc + E i ) ai + I i i + i ( I i i ) + 2Ai + B i , i ( rp ai p )dm

(32)

where Ai =
i i rp

i )dm ( i p

=
i

i i i i p p [( rp ) i ( rp i ) ]dm ni

=
i ni

i ( rp

k=1

i i pk e i k (t)) dm i

i i p ( rp i ) dm

=
k=1

i hi i ke k (t) i i ( rp

i i ( i rp )p dm,

hi k

=
i

i pk )dm, ni ni k=1

Bi =
i i Hk = i

i rp

i p dm = i

i rp

k=1

i pk e i k (t)dm =

i i Hk e k (t),

i i ( rp pk )dm,

Dynamics Analysis of Flexible-Link-Joint Robots

701

Mi is the mass of link i, I i is the inertia tensor of link i about the origin of the coordinate system (Xb Yb Zb )i after link i deforms. Because of the assumption of small deections, I i can be approximated as that of link i in its undeformed state. The second line of Eq.(28) can be expressed as
i (FL )j i i i i i = ai Ek + i H k + i (Qi k hk ) + 2 ni

Ri i jk e j (t)

ni

+
j =1

i i rjk e j (t) ,

(33)

j =1 i where rjk = i i (pj pk )dm, Ri jk = i i (pj pk )dm, Qi k =

)j The generalized inertia force (FL 0 N N (F )i i (FL )j = (FL )j = i=j N L j N i=1 i (FL )j i=m

i i (pk i ) rp dm.

produced by all exible links is (j N ), (N < j 2N ),

m 1

(34)
m r =1

(2N +

r =1

nr < j 2 N +

nr , 1 m N ).

Generalized inertia forces produced by rotors According to Ref.[18], the generalized inertia forces accounting for rotors spinning can be expressed as N j 2 Nj q j , 1 j N, Ir i )j = (Fr )j = (Fr (35) 0, j > N, i=1
j is the moment of inertia of the j th rotor about its spinning axis. where Ir 3.3 Dynamic equations of exible robots Substitution of Eqs.(21), (23), (25), (34), (35) into Kanes dynamic equation: (FA )j + (FL )j + (FJ )j + (FL )j + (Fr )j = 0,

(36)

gives the desired dynamic equations of exible-link and exible-joint robot as follows:
j 2 Ir Nj q j kj j = j , N i=j N N i=m i (FL )j + N i=m N

1 j N, N < j 2N,
m 1 m

(37) (38)

i (FL )j kj N j N = 0,

(FL )i j = 0,

2N +
r =1

nr < j 2 N +
r =1 N

nr ,

1 m N.

(39)

There are 2N +

dierential equations is closed and therefore it can be integrally solved.

i=1

ni equations and 2N +

i=1

ni unknowns in Eqs.(37)(39). So the set of

Example of Simulation

This example is about the dynamic simulation of a exible robot with two exible links and one rigid link connected by three exible joints and that of its corresponding rigid robot. We consider the bending deformation of links. Figures 1 and 2 are the front view and top view of the robot, respectively. The lengths of two exible links are L1 = L2 = 7.11 m and the length of the rigid link is L3 =1.358 9 m. The masses of three links are, respectively, M1 =314.88 kg,

702

ZHANG Ding-guo and ZHOU Sheng-feng

M2 =279.2 kg, and M3 =455.62 kg. The exural rigidity coecients are E1 I1 = E2 I2 = 3.8 106 Nm2 . The stiness coecients of elastic torsional springs are k1 = k2 = k3 = 1.33 106 Nm/rad. Let it fall from the position as shown in Fig.1. Figures 410 are for the comparison of the motions of the exible robot and its rigid one. The solid line represents the exible and the dash line represents the rigid. From Fig.3 to Fig.5, we can see i (i = 1, 2, 3) under these two conditions are approximately the same. But from i (i = 1, 2, 3) uctuate clearly when the robot is exible. Figures 9 Fig.6 to Fig.8, we can see and 10 represent tip deection and tip deection velocity of the 2nd link of the exible one, respectively. For the rigid one the tip deection is zero. From these results we can see the effects of exibility on dynamic characteristics. Ignoring these eects will cause mistake in robots modeling and controlling. So the eects of exibility must be considered in the dynamics of spatial exible robots.

Fig.1

Front view of the exible robot

Fig.2

Top view of the exible robot

Fig.3

Time history of 1

Fig.4

Time history of 2

Fig.5

Time history of 3

Fig.6

1 Angular velocity

Fig.7

2 Angular velocity

Fig.8

3 Angular velocity

Dynamics Analysis of Flexible-Link-Joint Robots

703

Fig.9

Tip deection of link 2

Fig.10

Tip deection velocity of link 2

References
[1] Fu K S, Gonzalez R C, Lee C S G. Robotics: Control, Sensing, Vision, and Intelligent[M]. McGrawHill Book Company, New York, 1987, 82148. [2] Angeles J. Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms[M]. Springer-Verlag, New York, 2002, 213439. [3] Sunada W H, Dubowsky S. On the dynamic analysis and behavior of industrial robotic manipulators with elastic members[J]. Transactions of the ASME Journal of Mechanisms, Transmissions, and Automation in Design, 1983, 105:4251. [4] Book W J. Recursive Lagrangian dynamics of exible manipulator arms[J]. The International Journal of Robotics Research, 1984, 3(3):87101. [5] Usoro P B, Nadira R, Mahil S S. A nite element/Lagrange approach to modeling lightweight exible manipulator[J]. Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, 1986, 108:198205. [6] Wang P K C, Wei Jinduo. Vibrations in a moving exible robot arm[J]. Journal of Sound and Vibration, 1987, 116(1):149160. [7] Naganathan G, Soni A H. Coupling eects of kinematics and exibility in manipulators[J]. The International Journal of Robotics Research, 1987, 6(1):7584. [8] Low K H, Vidyasagar M. A Lagrangian formulation of the dynamic model for exible manipulator systems[J]. Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, 1988, 110:175181. [9] Naganathan G, Soni A H. Nonlinear modeling of kinematic and exibility eects in manipulator design[J]. Transactions of the ASME Journal of Mechanisms, Transmissions, and Automation in Design, 1988, 110:243254. [10] Guan Yisheng, An Yongchen. A new method of dynamics of exible robot manipulators based on Kanes method and model analysis[J]. Robots, 1992, 14(1):4551 (in Chinese). [11] Spong M W. Modeling and control of elastic joint robots[J]. Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, 1987, 109(4):310319. [12] Readman M C, Blanger P R. Stabilization of the fast modes of a exible-joint robot[J]. The International Journal of Robotics Research, 1992, 11(2):123134. [13] Ahmad S. Constrained motion (force/position) control of exible joint robots[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1993, 23(2):374381. [14] Al-Ashoor R A, Patel R V, Khorasani K. Robust adaptive controller design and stability analysis for exible-joint manipulations[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1993, 23(2):589602.

704

ZHANG Ding-guo and ZHOU Sheng-feng

[15] Jankowski K P, van Brussel H. Inverse dynamics task control of exible joint robotsPart I: continuous-time approach, Part II: discrete-time approach[J]. Mech Mach Theory, 1993, 28(6):741762. [16] Xi F, Fenton R G. Coupling eect of a exible link and a exible joint[J]. The International Journal of Robotics Research, 1994, 13(5):443453. [17] Al-Bedoor B O, Almusallam A A. Dynamics of exible-link and exible-joint manipulator carrying a payload with rotary inertia[J]. Mech Mach Theory, 2000, 35:785820. [18] Bian Yushu, Lu Zhen. Method for dynamic modeling of exible manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(4):486490 (in Chinese).