Dynamic Modeling and Simulation of a Folding-Link Flexible Manipulator Based on the Bezier Interpolation Method

PurposeThe dynamic modeling and simulation of a folding-link flexible manipulator based on the Bezier Interpolation Method (BIM) have been taken into consideration for investigation.MethodBIM is utilized to describe the deformation field of flexible links in which the coupling of the axial and transverse deformations are included. Lagrange equation is adopted in conjunction with the homogeneous transformation matrix to derive the dynamic equations of the flexible manipulator, and relevant dynamic constraint equations are also given. Several examples are presented to verify the accuracy and validity of the present dynamic modeling theory for the flexible manipulator.Results and ConclusionBIM-based dynamic response of flexible manipulators are consistent with those based on Finite Element Method (FEM) and Assumed Mode Method (AMM). As a new discretization method of the deformable body, BIM can effectively describe the deformation field of flexible links, and it is also applicable to the dynamic modeling of multi-link flexible manipulators. The proposed dynamic equations can be improved to perfectly deal with the dynamic problem of flexible manipulators with folding links by adding constraint equations. Through the study of the dynamic characteristics of the right-angle folding-link manipulator under free fall, we can see that the steady state of the right-angle folding-link manipulator needs a long time, this shows that there is a more significant rigid-flexible coupling effect in the right-angle folding-link manipulator system.