ABSTRACT

Due to limited weight and stiffness, large-scale robots are susceptible to structural oscillations during operation. In this publication, a model for the vertical dynamics of an aerial rescue ladder as an application example for large scale flexible robots is derived based on the Lagrange formalism. The model consists of five flexible segments, each using an arbitrary number of flexible modes. Kinematic loops occurring due to the type of interconnection between the telescopic elements are implicitly solved by the chosen assumed modes. Linearized system matrices are extracted from the model directly and very efficiently. In the resulting modelling process, the manipulator is solely described by its position and orientation kinematics and thus an adaption to different kinds of manipulators is straightforward. A validation against real world measurement data confirms the high accuracy of the derived model.

摘要

由于重量和刚度有限，大型机器人在运行过程中容易受到结构振动的影响。在本出版物中，基于拉格朗日形式主义推导出了作为大型柔性机器人应用示例的空中救援梯垂直动力学模型。该模型由五个灵活的部分组成，每个部分使用任意数量的灵活模式。由于伸缩元件之间的互连类型而发生的运动回路由所选择的假定模式隐含地解决。线性化系统矩阵直接从模型中提取，非常有效。在最终的建模过程中，操纵器仅由其位置和方向运动学描述，因此适用于不同类型的操纵器很简单。