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Dynamic modelling of a compliant arm with 6-dimensional tip forces using screw theory

Published online by Cambridge University Press:  19 February 2003

X. Ding  and
J. M. Selig
X. Ding
Affiliation:
Robotics Research Institute, Bejing University of Aero. & Astro., Bejing (P.R. China). [email protected]
J. M. Selig
Affiliation:
School of Computing, Information Systems & Mathematics, South Bank University, London SE1 0M (U.K.)
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Abstract

In this paper, we try to find an efficient and accurate dynamic model for a robot with spatial compliant links using the screw theory. After making some reasonable assumptions for the system, we introduce the Ding-Holzer method for system simplification. Instead of looking at the beam at rest, we consider the spatial forces and deflections of a moving elastic arm. We focus our study on the dynamic modelling problems of a compliant arm with six dimensional forces and deformations at the tip.

Keywords

Compliant formScrew theoryTip forcesDynamic modelling
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 193 - 197
Copyright
© 2003 Cambridge University Press

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