Abstract

In this article, a large deformation analysis of a flexible manipulator is examined by using the discrete time transfer matrix method. Since this robotic analysis is very demanding in terms of both computation time and memory usage, the main goal is to reduce the computational complexity compared to the conventional algorithm. In this study, the proposed model is validated with Euler–Bernoulli beam and a corresponding ADAMS model. A planar robotic arm in the presence of links and joints flexibility is studied. It concludes that the theoretical formulation attributes for large flexible multibody systems and practical robotic application.

中文翻译：

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柔性机械臂大变形分析的计算高效离散时间传递矩阵方法

摘要

本文采用离散时间传递矩阵法对柔性机械臂的大变形分析进行了研究。由于这种机器人分析在计算时间和内存使用方面都非常苛刻，因此与传统算法相比，主要目标是降低计算复杂度。在这项研究中，所提出的模型通过 Euler-Bernoulli 梁和相应的 ADAMS 模型进行了验证。研究了存在链接和关节灵活性的平面机械臂。它得出结论，大型柔性多体系统和实际机器人应用的理论公式属性。