Abstract
The integration of robot and human will become the essential feature of the new generation of robot. Therefore, higher requirements are required for the safety, positioning accuracy and real-time performance of the robot. The rigid-flexible coupling can be realized by adding suitable flexible joints or components on the basis of traditional rigid manipulator to improve the safety of robot. The positioning accuracy and real time performance of the robot can be improved by accurate dynamic modeling and complete consideration of its motion state and motion characteristics.
In this paper, the flexible body dynamics modeling method is used for theoretical analysis, and the dynamics modeling method of rigid body robot is combined with the flexible joint to complete the dynamic modeling of 2 DoF rigid-flexible coupling mechanism. Then verify the dynamic model, through Adams own dynamic model solution simulation and Adams and Matlab united simulation means, proved that the established dynamic model is accurate. Then the rigid-flexible coupling mechanism with 2 DoF was designed to complete the construction of the experimental prototype and the verification and analysis of the actual data.
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Research supported by National Nature foundation of China under Grant 91748111, Fundamental Research Funds for the Central Universities under Grant 2018ZD27.
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Chen, Y., Song, B., Zhang, X., Huang, Y. (2019). Dynamics Modeling of a 2-DOFs Mechanism with Rigid Joint and Flexible Joint. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_56
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