Simulation of dynamic behaviors of flexible armed robots

In this study, our aim is to get the dynamic equations of flexible armed robots and analyzing them by computer aid. It was considered to be solved the equations again and again along with the changes of conditions, if desired and the dynamic equations with the given conditions.Hence, having been evaulating the dynamic behaviour shown by the robot under the given conditions it was aimed to be able to ensure the required changes in designing or working conditions.A new modeling technique proposed, so that some simplified assumptions are added to the calculations made by some researchers. A new formulation is developed based on this modeling. Due to easy calculation in the computer the formulation was made in matrix form. Also, because of systematic and widespread, coordinate systems were attached according to D-H Principles.A software based on MATLAB was developed according to this formulation. The dynamic equations of planar robots with n flexible arms and revolute joints were obtained automatically by computer in parametric form. Hence, in order to be solved the dynamic equations, it was sufficient to convert the parametric terms to numeric terms.So, it was prevented the recalculation of equations for each process. The solution of equations was done for the very different combinations with the changes of numeric values only. The results obtained by working software for robots with one to three elastic organs were compared. So, some information was collected and some conclusion were obtained relationship between number of organ, organ mass value, organ material and working conditions.Key Words; Robot, Flexible, Dynamics, Modeling, Simulation, Animation, MATLAB