Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints
المؤلفون المشاركون
Liu, Yufei
Li, Wei
Yang, Xuefeng
Wang, Yuqiao
Ju, Jinyong
المصدر
العدد
المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-10، 10ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2015-12-01
دولة النشر
مصر
عدد الصفحات
10
التخصصات الرئيسية
الملخص EN
This paper investigates the dynamic of a flexible robotic manipulator (FRM) which consists of rigid driving base, flexible links, and flexible joints.
With considering the motion fluctuations caused by the coupling effect, such as the motor parameters and mechanism inertias, as harmonic disturbances, the system investigated in this paper remains a parametrically excited system.
An elastic restraint model of the FRM with elastic joints (FRMEJ) is proposed, which considers the elastic properties of the connecting joints between the flexible arm and the driving base, as well as the harmonic disturbances aroused by the electromechanical coupling effect.
As a consequence, the FRMEJ accordingly remains a flexible multibody system which conveys the effects of rigid-flexible couple and electromechanical couple.
The Lagrangian function and Hamilton’s principle are used to establish the dynamic model of the FRMEJ.
Based on the dynamic model proposed, the vibration power flow is introduced to show the vibration energy distribution.
Numerical simulations are conducted to investigate the effect of the joint elasticities and the disturbance excitations, and the influences of the structure parameters and motion parameters on the vibration power flow are studied.
The results obtained in this paper contribute to the structure design, motion optimization, and vibration control of FRMs.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Liu, Yufei& Li, Wei& Wang, Yuqiao& Yang, Xuefeng& Ju, Jinyong. 2015. Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints. Shock and Vibration،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1078192
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Liu, Yufei…[et al.]. Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints. Shock and Vibration No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1078192
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Liu, Yufei& Li, Wei& Wang, Yuqiao& Yang, Xuefeng& Ju, Jinyong. Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints. Shock and Vibration. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1078192
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1078192
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر