Research on kinematics and dynamics simulation of rigid-flexible coupling cylindrical coordinate robot

In view of the fact that cyclical coordinated robots play a very important role in the production and handling system, it is of great significance to study the kinetics and dynamics of the rigid and flexible body cyclical coordinated robots. In this work, we establish the virtual prototype of its rigid body and rigid-flexible body by the ADAMS and ANSYS software. The kinetics and dynamics model of the cyclical coordinated robot is established by using the modified D-H method and Lagrange equation. The characteristics and differences between rigid body and Rigid-Flexible body in the kinetics and dynamics of cyclical coordinated robot are analyzed. The results show that the theory and simulation results of kinetics and dynamics of cyclical coordinated robot are completely consistent for the rigid body. When the rigid-flexible coupling is considered, different structural models, specifically the structure is fully extended, will have less influence on the kinetics characteristic of the cyclical coordinated system robot, but greater influence on the dynamics characteristic. The research of this paper will be very beneficial to promote the understanding and control of the impact of flexibility on high precision control.