关键词: 轮式移动单杆柔性机械手, 逆动力学, 频域, 有限元

Abstract: The inverse dynamics modeling of a wheeled mobile single link flexible planar manipulator(WMSLFPM) is presented. Based on Bernoulli-Euler beam theory and under pin-free boundary conditions, the single link flexible manipulator is discretized. The system inverse dynamic model of the WMSLFPM, which is derived by using finite elements by virtue of Hermit interpolation function and Newton-Ouler equations and virtual principle, is concisely described in terms of matrices and vectors measured with respect to a body frame of reference. The numeric simulations are carried out to the inverse dynamic model of a WSMSLFPM in the frequency domain to get the driving torque/force and elastic configuration variables. This technique is suitable for the study on the inverse dynamics of mobile flexible manipulators under the conditions of high precision at the tip of light flexible arms and for building up both open-loop control and closed-loop control strategies.

Key words: Finite element, Frequency domain, Inverse dynamics, Wheeled mobile single link flexible manipulator