Dynamic Modeling and Simulation of Flexible Joint Manipulator

The dynamic equation of rigid-flexible coupled multi-body system is established by using multi-flexible body dynamics theory and is based on the six degrees of freedom series grinding manipulator model. Therefore, the dynamic characteristics of the whole manipulator are analyzed by using multi-flexible body dynamics theory and finite element model. The dynamic simulation of the mechanical arm respectively shows that after the rigid flexible coupling(the joint is set to be flexible from the rigid body) are coupled, the whole working mechanism produces slight variations including displacement and velocity, while there aren’t obvious fluctuations in the rigid structure. Besides, the materials of flexible joints also have an effect on the fluctuation of error curves in displacement and velocity of the mechanical system. These foundations lay a solid foundation for the subsequent research on the influence of clearance hinge model on the structure of the manipulator.