AAS 95-322

Dynamics and Control of Mobile Flexible Manipulators with Slewing and Deployable Links

S. Hokamoto, Saga University, Saga, Japan, V. J. Modi, The University of British Columbia, Vancouver, B.C., Canada, A. K. Misra, McGill University, Montreal, Quebec, Canada

Abstract

This paper studies a rather novel concept of a variable geometry manipulator consisting of interconnected modules, each comprised of two links, the upper one capable of slewing while the lower one is free to deploy, to form a chain-type geometry. Highly nonlinear, nonautonomous and coupled equations of motion are derived for a general three-dimensional case accounting for the link and joint flexibilities as well as damping. An order n algorithm is developed for integration of the equations whose validity is assessed through maintenance of constant total energy for a conservative system. This is followed by a parametric study of the system dynamics. Finally, a numerical example illustrates trajectory control of the end-effector. The concept promises to have a wide variety of applications in the field as diverse as space technology, nuclear engineering and forestry.