弾性リンクとすきまのあるジョイントを有するマニピュレータの動的モデリング

抄録

This paper presents a full three-dimensional dynamic modeling method of spatial robotic manipulators with flexible links and revolute clearance joints. The system dynamic equations using a Denavit-Hartenberg notation and Component Mode Synthesis are effectively utilized in the dynamic modeling method. The development of the contact force model for revolute clearance joint is explained in detail. The numerical analysis of a 2-link manipulator based on the modeling reveals that the joint clearance significantly deteriorates the positioning accuracy of the manipulator and increases the bearing forces at the joint.