A Wavelet Based Method to Modeling Realistic Flexible Robots

In this paper a modular, computationally efficient, and numerically stable method is presented, which allows to obtain the dynamic model of a robot constituted by flexible links having variable crosssection and subjected to generic ending forces and torques and to the gravity actions. This method is based on the use of admissible deformation functions of wavelet type, obtained by using the Instantaneity Principle of the deflection of an element, and it is based on the Euler-Bernoulli beam theory if the link is slender or, otherwise, on the Timoshenko one. Moreover, it is easy to extend the presented methodology to deal also with the case of large link deformations. The proposed modeling methodology guarantees no static error independently of the number of wavelet functions per link, both in the presence of generic forces and torques at both ends, for generic crosssection profiles, and in the presence of gravity actions, for several cross-section ones; moreover, it guarantees good dynamic performance in a frequency range which increases when the number of wavelet functions increases. It is shown that the presented methodology is also more efficient and numerically stable than other modeling methods known in literature. In this paper some significant examples are presented which illustrate the properties of the proposed methodology; they also show that the proposed modeling methodology is an advisable choice when it is necessary to obtain high precisions, in particular at low frequencies, and/or not prohibitive calculus time, and/or when other modeling methods result inapplicable because of numerical divergence problems.