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A new approach to the kineto-elastodynamic analysis of robotic manipulators

Until recently, vibration effects have generally been neglected in the design of industrial robotic manipulators. This has been primarily due to the complexity of the mathematical analysis of manipulators with elastic links. To date, the Kineto-Elastodynamic analysis of robotic manipulators has been limited to lumped parameter method or a single elastic member. This paper presents a new method for the Kineto-EIastodynamic analysis of robotic manipulators. By utilizing distributed parameter-method, generalized equations of motion for robotic manipulators with rotational links is given. The derivation and final form of the equations of motion provide the capacity to model a general complex elastic manipulators, to include the nonlinear rigid body and elastic motion coupling terms in a general representation, and to allow any finite element type to be utilized in the model. The method is computationally efficient through two special treatments. The method given by this paper can be used in the dynamic analysis of robotic manipulators and spatial open Ioop mechanisms.