FORMULATIONS ABOUT ELASTODYNAMICS IN ROBOTICS

摘要

The main objective of this paper consists in the establishment of the generalized elastokinematics and elastodynamics equations for robot structures with flexible links. For kinematics and differential matrices in the case of the robot structures with rigid and elastic links will be applied, among of these, the matrix exponentials, in accordance with the algorithms developed by the author. For dynamical study of robot structures with rigid links, the author of paper will develop kinetic energy with important formulations. According to the author researches, in this paper will be also presented new expressions for acceleration energies of higher order, corresponding to suddenly movements. For the study of elastodynamics, author will establish with new formulations the kinetic energy, acceleration energy of first and second order, corresponding in exclusivity to elastic structure. So, the expressions for generalized inertia forces typical to suddenly motions will be determined, when the robot structures are dominated of elastic links. Key words: elasto-kinematics, elasto-dynamics, advanced mechanics, robotics.