Dynamic Modeling and Analysis of Rigid-Flexible Coupling Dual-Arm Robotic System Based on MSTMM

Compared to single-arm robotic systems, dual-arm robotic systems exhibit greater flexibility and efficiency. Flexible robotic arms, with their lightweight structure and high environmental adaptability, are often used in dual-arm robotic systems. However, flexible robotic arms are prone to elastic deformation during motion, which can reduce task accuracy. Accurate dynamic modeling is essential for evaluating the operational performance of robotic arms. This paper establishes a dynamic model of a rigid-flexible coupling dual-arm robotic system based on the Multibody System Transfer Matrix Method (MSTMM), deriving the total transfer matrix and total transfer equation of the system, which enables efficient computation of natural vibration characteristics and dynamic responses. Verification through finite element method confirms the effectiveness of the proposed dynamic model. This paper presents a novel approach for the dynamic modeling of rigid-flexible coupling robotic arms and provides theoretical support for subsequent vibration control.