Study On The Dynamics Of Manipulator

Multi-body system is a common dynamic system. As a multi-body system of a typical representative, the manipulator is widely used particularly in the aerospace, marine, machinery manufacturing, and other industrial applications.The manipulator is studied in this paper and the dynamics characteristics of the manipulator are analyzed. The manipulator dynamic model is build by using the second category Lagrange equations. In this process, the fluid dynamics model of manipulator is also studied. The virtual quality, fluid resistance and other factors on the impact manipulator are considered and the model in a typical path of movement simulation is done. The results are analyzed and compared in this paper. MATLAB software symbolic operation is used for the derivation of dynamic equations.Flexible multi-body dynamics is the emerging disciplines of the past 20 years, and flexible manipulator is typical flexible multi-body dynamic system. Meanwhile, with the manipulator of light, high-speed needs, especially for the space environment of space robot development needs, make manipulator projects promoting flexible multi-body dynamics of the development of this engineering field. The flexible space manipulator dynamics equations are build by using modal expansion and the Kane equation. By giving the movement conditions, the simulation, analysis of the manipulator dynamics is done in this paper.