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Dynamic Modeling and Coupling of Underactuated Flexible Robots

[+] Author Affiliations
Wei Chen, Yue-Qing Yu, Xu-Ping Zhang

Beijing University of Technology, Beijing, China

Paper No. DETC2005-84919, pp. 847-853; 7 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


Underactuated robots have fewer control inputs than the degrees of freedom of the system. Dynamic model of an underactuated robot considering link flexibility is firstly proposed based on finite element method. Several dynamic coupling indices for underactuated flexible manipulators are analyzed and discussed including acceleration coupling between active and passive joints, dynamic coupling between passive joints and drive torques, and the coupling effect of elastic deformations and joints. The simulation results illustrate that these coupling effects are very important in structure design, configuration design, actuator placement and the control to underactuated robots system, and show that the elastic deformations of links have influence on dynamic coupling indices.

Copyright © 2005 by ASME



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