Robot Elastodynamics

Abstract

The requirements on the parallel PnP robots regarding high speed, high load, high precision and lightweight structure make it necessary to consider the deformation, stiffness, and other dynamic characteristics. Hence, their elastodynamic performances are of importance since higher natural frequencies and low elastic displacements allow higher operational speeds for efficient productivity. Unlike a structure or element, the dynamic behavior of a mechanism usually varies according to its position and orientation, thus, it is a nontrivial task to characterize the dynamics within a prescribed workspace. The flexible dynamic modeling of a manipulator is a challenging task since it involves the structural elasticity and the geometry changes in the nominal motion due to the varying parameters of the robotic system. This can be achieved through kineto-elastodynamic analysis, which is fundamentals for the modeling, design and control.