Abstract

Generalized system modelling using finite element technique is examined in order that the dynamic behaviour of flexible robot manipulators can be studied. Most of the dynamic models currently used for robot motion simulation are restricted to open kinematic chains of rigid body elements. However, to improve dynamic performance, it is essential to take into account the structural mechanic characteristics of robot components. This thesis presents a general finite element model for flexible robots and validates them by simulation. The kinematic equations are set up and the system kinetic and potential energies as well as their derivatives are obtained. Lagrange's formulation is employed and the generalized system dynamic equations which represent spatial performance are solved based on finite element analysis. To validate the generalized equations developed for flexible robot manipulator, two sample simulations are carried out for 2-1ink and single link manipulators without and with torque. The responses are obtained, compared and discussed.