Original paper
Dynamic Modeling and Development of Symbolic Calculation Software for N-DOF Flexible-Link Manipulators Incorporating Lumped Mass
Abstract
Considering the complex dynamic modeling of multi-DOF planar flexible manipulators, a general-purpose method for the rigid-flexible coupling dynamic modeling of N -DOF flexible manipulators is proposed in this paper, and symbolic calculation software is developed. The modeling method is based on the Lagrange equation and assumed mode method (AMM). First, the N -DOF flexible manipulator is divided into two parts, which are assumed to be rigid and...
Paper Details
Title
Dynamic Modeling and Development of Symbolic Calculation Software for N-DOF Flexible-Link Manipulators Incorporating Lumped Mass
Published Date
Jul 1, 2019
Journal
Volume
2019
Pages
1 - 16
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Notes
History