Contact dynamics of frictional flexible telescopic manipulator

The modeling and simulation of the contact dynamics of the flexible telescopic manipulator is studied; considering the global flexibility of the telescopic manipulator and the Coulomb friction and clearance, as well as the time-varying length of the cantilever section, the interaction between the telescopic manipulator and the translational joint is modeled by establishing nodal contact force model and dynamic contact unit, and constructing a method to judge the contact state of each node, based on which a solution strategy for the system dynamics equation is constructed. Simulation experiments verify the effectiveness of the method and reveal the influence of factors such as flexibility and friction of telescopic manipulator on the system dynamics.