Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints
Joint Authors
Liu, Yufei
Li, Wei
Yang, Xuefeng
Wang, Yuqiao
Ju, Jinyong
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-12-01
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1078192