Dynamic modeling of flexible payloads grasped by actuated grippers using component mode synthesis

This paper presents an improved method of modeling the linear dynamics of a flexible payload grasped by an actuated robotic gripper. The component mode synthesis (CMS) method is employed to explicitly model the coupling between the payload and actuators, and to reduce the system order. With the addition of quasi-static modes to vibration normal modes and constraint or attachment modes, as pre-selected component modes, a new component mode representation is defined. In this study, it is found that the inclusion of quasi-static modes and attachment modes in the CMS formulation results in increased accuracy for simulation of dynamic responses of flexible payloads subject to both static and dynamic external forces. Numerical examples are presented to demonstrate the effectiveness of the new component mode representation for the given problem