关键词: 柔性机械手, 矢量法, 动力学, Lagrange方程

Abstract:

For solving problem of lower accuracy induced by common methods in flexible manipulator dynamics modeling, such as FEM  etc., flexible manipulator was considered as a continuous whole and its dynamics model was built by vector method. Simulation results of dynamics model of flexible manipulator under vector method and FEM, and dynamic model of ideal rigid manipulators were compared to prove that vector method is effective and more accurate.

Key words: flexible manipulator, vector method, dynamics, Lagrange equation