{"title":"基于FS-SEA的柔性机械臂转子分离动力学建模方法","authors":"Peng Chen, Hongyi Li","doi":"10.1109/ROBIO.2015.7418845","DOIUrl":null,"url":null,"abstract":"A rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"4 5","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA\",\"authors\":\"Peng Chen, Hongyi Li\",\"doi\":\"10.1109/ROBIO.2015.7418845\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method.\",\"PeriodicalId\":325536,\"journal\":{\"name\":\"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"4 5\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2015.7418845\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2015.7418845","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA
A rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method.
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