Dynamic Modeling of Continuum Flexible Leg System for Micro Robot

Abstract:

The micro robot that based on resonant principle can get high speed and high precision. However its leg is usually a flexible continuum with complex shapes, and its dynamic modeling is a key problem during researching this kind of robot. A method combining finite element with modal coordinates is presented, and is used to build Finite Degree Of Freedom (FDOF) model of Multi Rigid Bodies (MRD) for flexible leg of micro robot. Modal analysis of continuum model and FDOF model of MRD for flexible leg is conducted in ANSYS and ADAMS software environment respectively. Analysis results show that the two model have similar lower nature frequency and vibration modes, which verified the correctness of the FDOF model and its establish method. Based on FDOF model, the equivalent drive model of piezoelectric bimorph and system dynamic model of micro robot are build, which provides a theoretical basis for dynamic analysis of the micro robot.

• Periodical: Advanced Materials Research (Volumes 472-475)
• Pages: 189-197
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.472-475.189
• Online since: February 2012
• Authors: Wei Da Li, Juan Li, Hai Yan Hu, Man Tian Li, Li Ning Sun
• Keywords: Continuum Flexible Leg, Dynamic Model, Finite Degree of Freedom Model, Micro Robot

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