2杆柔体, 移动机械手, 有限元法, 运动学, 动力学, 耦合

This paper concentrated on the kinematics and dynamics modeling of a mobile 2-link flexible manipulator(M2LFM), which consisted of a mobile base with a 2-DOF linear elastic-damping suspension system and a flexible manipulator and was considered to travel with a constant linear speed over an irregular ground-surface. Based on Lagrange and Newton-Ouler theories,the system dynamics model of the M2LFM in which the reference motion and the elastic deformation were coupled was derived using the finite element method and intermediated element coordinate systems and floating frame of reference formulation which can lead to zero strains,and was compactly described with matrices and vectors measured with respect to a gobal Cartesian frame of reference.At last, the numerical simulations were carried out to the forward dynamics model of a M2LFM and a rigid-flexible one and a rigid one,respectively.These simulation results illustrate these effects of dynamic couplings and elastic vibration on system by comparion.