MATHEMATICAL-MODELING OF THE DYNAMICS OF A SYSTEM OF 2 BODIES COUPLED BY AN ELASTIC MULTIPLE-ELEMENT CHAIN

The subject of this paper is the construction and conversion, to a form suitable for computer integration, of a mathematical model describing the motion of a mechanical system consisting of two bodies interconnected by a kinematic chain with nonrigid elements in inertial space. This problem must be solved, for example, in studying the dynamics of a manipulator on a mobile base, when it is necessary to take account of the influence of finite rigidity of the connecting elements on the manipulation process. A calculation scheme with an arbitrary number of massless elements is adopted; the generalized coordinates chosen have coordinates with a clear physical interpretation and are accessible to direct measurement. Decomposition of the model allows an independent group of equations describing the relative motion of the bodies to be isolated.