DYNAMIC MODELING AND MODE ANALYSIS OF FLEXIBLE-LINK, FLEXIBLE-JOINT ROBOTS

This paper presents a systematic approach to dynamic modeling and mode analysis of a single-link flexible robot, which has a flexible join: and a hub at the base end and a payload at the free end. Accurate mode s of the system are obtained analytically. The following important con clusions are drawn: (1) even a small joint flexibility can significant ly affect the system frequencies; (2) the fundamental frequency is ins ensitive to the hub inertia or payload inertia; (3) for a given flexib le system, the fundamental frequency is mainly affected by the payload mass, while the second frequency is mainly affected by the payload in ertia. (C) 1998 Elsevier Science Ltd. Ail rights reserved.