Three-Dimensional Dynamic Modeling and Analysis of Flexible Robot With Coupling Deformation Based on Spinor Theory

Abstract

Flexible manipulators are longer and lighter, which allows them to undergo elastic deformation and vibration. It affects the working accuracy and flexibility of the robot. To enhance the flexibility and flexibility of robot positioning, accurate dynamics modeling and analysis are essential. Therefore, using the space deformation spinor theory, this paper proposes a dynamic modeling method for a three-dimensional flexible manipulator with coupled deformation and further analyzes its deformation. First, the deformation of the flexible manipulator is described based on the Rayleigh–Ritz method and six-dimensional variables. Combining this description with spinor theory, the kinematics of the flexible manipulator is derived. Second, considering the external damping effect, the accurate dynamic model of the flexible manipulator was established. Finally, using Matlab and Adams as simulation platform, the correct behavior of the model was verified. And the frequency analysis of the single-degree-of-freedom flexible manipulator without load was further analyzed. The simulation and analysis verify the feasibility and correctness of the model. The results show that the change in the length of the manipulator has a greater impact on the characteristic frequency than the change in the section radius. Compared with the pure deformation and coupling deformation of the flexible robot, the contribution rate of the characteristic frequency of its lateral bending deformation is very large. This research lays the foundation for the dynamic three-dimensional coupling modeling of the flexible manipulator and for the development of subsequent control algorithms.