The dynamic modeling and simulation of an N -flexible-link and N -flexiblejoint robot is reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes is adopted to describe the deformation of the flexiblelink. The complete governing equations of motion of the flexible-link-joint robots are derived via Kane's method. An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots.
The dynamics of a coupled rigid-flexible rocket launcher is reported. The coupled rigid-flexible rocket launcher is divided into two subsystems, one is a system of rigid bodies, the other a flexible launch tube which can undergo large overall motions spatially. First, the mathematical models for these two subsystems were established respectively. Then the dynamic model for the whole system was obtained by considering the coupling effect between these two subsystems. The approach, which divides a complex system into several simple subsystems first and then obtains the dynamic model for the whole system via combining the existing dynamic models for simple subsystems, can make the modeling pr~xlure efficient and convenient.
With the dynamic theory of multi-rigidbody systems, first this paper establishes the mathematical model of dynamics and impact dynamics of the bullet belt of airplane gun, and then it carries out the numerical and graphic simulation of the motion oj" the bullet belt by way of computer.
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