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Abstract-This paper presents dynamic modelling of a twolink flexible manipulator based on closed-form equations of
motion. The kinematic model is based on standard frame
transformation matrices describing both rigid rotation and
modal displacement, under small deflection assumption. The
Lagrangian approach is used to derive the dynamic model of
the structure. Links are modelled as Euler-Bernoulli beams
with proper clamped-mass boundary conditions. A dynamic
model of the system, incorporating structural damping, hub
inertia and payload, is developed using finite assumed mode
methods. Explicit equations of motions are detailed by
assuming two modes of vibration for each link. Moreover,
effects of payload on the response of the flexible manipulator
are discussed. Extensive results that validate the theoretical
derivation are presented in the time and frequency domains.
I.
INTRODUCTION
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Symbol
Parameter
Value
Unit
EI
l
Jh
G
Mh2
Mass density
Flexural rigidity
Length
Motor and hub inertia
Gear ratio
Mass of centre motor
0.2
1.0
0.5
0.02
1
1
kgm-1
Nm2
m
kgm2
kg
III.
A.
DYNAMIC MODELLING
Kinematic Formulation
sin i
cos i
(1)
Ei =
i ( x i , t )
x
i
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i ( x i , t )
x i
1
xi =li
xi =li
(2)
xi
ri ( xi ) =
i ( xi , t )
(3)
p i +1 = ri (li )
B.
ri = 0 pi + Ti i ri ,
TL =
(4)
pi +1 = 0 pi + Ti i pi +1
(6)
TRi
TPL =
where n =
1
i
2
li
(8)
where i is the linear mass density for the ith link and
0
p i+1 = i ri (l i )
j +
j =1
1
2
U =
n 1
(l
k =1 k k
(13)
li
d 2 i ( xi )
dxi
( EI ) i
dx 2
i
(14)
4 i ( xi , t )
x i
+ i
2 i ( xi , t )
t 2
=0
(15)
( EI ) i
(10)
(12)
=0,
i ( xi , t )
xi =0
=0,
(16)
(9)
1
1
+ (l )) 2 ,
M p p nT+1 p n +1 + I P (
n
n n
2
2
i ( xi , t )
C.
(7)
li
where TR, TL and TPL are the kinetic energies associated with
the rotors, links and the hubs, respectively. By using a very
small deflection assumption, the kinetic energy of the ith
rotor is given by
1
= G i 2 I ri i 2
2
i =1
(5)
Dynamic Equations
(11)
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2 i ( xi , t )
= I Ei
x i 2
xi =li
d 2 i ( xi , t )
t
dt 2
M DEi
xi =li
d 2 i ( xi , t )
t
dt 2
xi =li
(17)
( EI ) i
= M Ei
3 i ( xi , t )
x i
d2
dt 2
+ M DEi
B.
xi =li
( ( x , t ) )
i
xi =li
(18)
( ( x , t ) )
d2
dt 2
Closed-form Equations
xi =li
I E1 = I b 2+ J 2 + I p + M p l 22 ,
M DE1 = (m2 lc 2 + M p l 2 cos 2 ) ,
is the
M E2 = M p ,
nm
ij ( xi ) qij (t )
(19)
j =1
I E 2 = I p + M p l 22 ,
(20)
and
ij ( xi ) = mi [cos( ij xi ) cosh( ij xi )
+ ij sinh( ij x i ) cosh( ij x i )]
ij =
cos ij + cosh ij
M Li ij
M Li ij
(cos ij cosh ij )
(21)
(22)
(sin ij sinh ij )
f ( , ) g1 ( ,, q, q)
M ( , q) + 1
+
q f 2 ( , ) g 2 ( , , q, q)
0 0
+ + =
Dq Kq 0
M Li ij
i
J Li ij 3
(23)
M Li I Li ij 4
i 2
(1 cos ij l i cosh ij l i ) = 0
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(27)
= 0 .1 K i , i = 3,..., 6 ).
IV.
(26)
1 + cosh ij li cos ij l i
Q = Fi
i
(25)
M DE 2 = 0
(24)
SIMULATION RESULTS
0
20 gram
60 gram
100 gram
-0.01
-0.02
-0.03
-7
10
20 gram
60 gram
100 gram
-8
Magnitude ((m/sec/sec)*(m/sec/sec)/Hz)
10
-9
10
-10
10
-11
10
-12
10
-13
10
-14
10
-15
10
10
15
20
25
30
Frequency (Hz)
35
40
45
50
20 gram
60 gram
100 gram
-12
10
Magnitude ((m/sec/sec)*(m/sec/sec)/Hz)
-13
10
-14
10
-15
10
-16
10
-17
10
-18
10
-0.04
-19
10
-0.05
0.5
1.0
1.5
2.0
2.5
3.0
Time (s)
3.5
4.0
4.5
5.0
2
1.8
1.6
1.4
Link-2 positions (rad)
10
15
20
25
30
Frequency (Hz)
35
40
45
50
20 gram
60 gram
100 gram
1.2
1
0.8
0.6
0.4
0.2
0
0
-0.06
-0.07
0
0.5
1.0
1.5
2.0
2.5
3.0
Time (s)
3.5
4.0
4.5
5.0
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TABLE II
RELATION BETWEEN PAYLOAD AND SPECIFICATIONS OF ANGULAR POSITION
[2]
Payloads
(grams)
0
20
40
60
80
100
0
20
40
60
80
100
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
TABLE III
RELATION BETWEEN PAYLOAD AND RESONANCE FREQUENCIES OF THE FLEXIBLE
MANIPULATOR
Payloads
(grams)
0
20
40
60
80
100
[12]
Mode 2
(Hz)
35
27
23
22
20
19
Link-2
Mode 1
(Hz)
6
4
4
3
3
3
[13]
Mode 2
(Hz)
32
25
23
21
20
19
CONCLUSION
V.
Investigations into the development of a dynamic model of
a two-link flexible manipulator incorporating structural
damping, hub inertia and payload have been presented. A
closed-form finite dimensional dynamic model of a planar
two-link flexible manipulator has been developed using the
Euler-Lagrange approach combined with the AMM. The
derived dynamic model has been simulated with bang-bang
torque inputs and angular position responses of both links of
the system have been obtained and analysed in time and
frequency domains. Moreover, the effects of payload on the
dynamic characteristic of the system have been studied and
discussed. These results are very helpful and important in the
development of effective control algorithms for a two-link
flexible robot manipulator with varying payload
REFERENCES
[1]
[11]
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