A novel mathematical approach for finite element formulation of flexible robot dynamics

Chu, A. M., Nguyen, C. D., Duong, X. B., Nguyen, A. V., Nguyen, T. A., Le, C. H. and Packianather, Michael ORCID: https://orcid.org/0000-0002-9436-8206 2022. A novel mathematical approach for finite element formulation of flexible robot dynamics. Mechanics Based Design of Structures and Machines 50 (11) , pp. 3747-3767. 10.1080/15397734.2020.1820874

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Abstract

In conventional finite element–Lagrangian methods, the dynamics model of a flexible robot is usually formulated based on a critical assumption that the kinetic energy of an element is approximately calculated with an integral of mass point energy. Since the energy integral is implicit, the formulation of the dynamics model is also very complex and implicit. Hence, this article develops a new mathematical approach for the dynamic modeling of a general flexible/rigid robot. The proposed method is more comprehensive and efficient in comparison with the previous ones because it no longer requires the calculation of the symbolic integrals and the implicit expressions of the elemental and global mass matrices. Besides, the proposed approach is applicable for both the flexible robots and the hybrid flexible/rigid robots. To validate the proposed method, numerical simulations and experimental results are presented.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	Taylor & Francis
ISSN:	1539-7734
Date of Acceptance:	4 September 2020
Last Modified:	26 Oct 2022 15:17
URI:	https://orca.cardiff.ac.uk/id/eprint/135224

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