Dynamics of flexible multi-link robot arms with mass center offset

Abstract

A mathematical model for the dynamics of a flexible multi-link manipulator as part of a space-based robotic system has been developed in this paper. Since the system is considered to be in space, the position of the mass center of the system with respect to the center of the main structure will be varied during the system operation. The system mass center is determined by knowledge of the mass centers of the subsystems. The general dynamics of the system are modeled by using the finite element method and the Lagrangian approach, in which the mass center offset of the system is included. It is significant that the system's degrees of freedom will be more coupled to each other when the mass center offset is introduced into the system formulation. The dynamic stability of the system may be verified by applying the linear quadratic regulator techniques through computer simulation. The numerical results show that the system is stable and illustrate the interaction among the subsystems.