摘要
The coupling effect of the flexible joint and the flexible link on the dynamic singularity of the flexible manipulator is addressed. Firstly, the dynamic equations of a flexible manipulator with a flexible joint and a flexible link are derived. Secondly, the relationship and property between the flexible joint and the flexible link are analyzed. It shows that the flexible joint＇s amplitude will increase abruptly, thereby the dynamic singularity occurs if the frequency of a flexible joint is near or equal to some natural frequency of a flexible link. Finally, some numerical simulations which will verify the correctness of the theoretical analysis, are carded out. The results are fundamental for the design of a flexible manipulator and for the avoidance of the dynamic singularity.
The coupling effect of the flexible joint and the flexible link on the dynamic singularity of the flexible manipulator is addressed. Firstly, the dynamic equations of a flexible manipulator with a flexible joint and a flexible link are derived. Secondly, the relationship and property between the flexible joint and the flexible link are analyzed. It shows that the flexible joint＇s amplitude will increase abruptly, thereby the dynamic singularity occurs if the frequency of a flexible joint is near or equal to some natural frequency of a flexible link. Finally, some numerical simulations which will verify the correctness of the theoretical analysis, are carded out. The results are fundamental for the design of a flexible manipulator and for the avoidance of the dynamic singularity.
基金
supported by National Natural Science Foundation of China(No. 50075008)
Important Project of Science and Technology Research of Ministry of Education of China (No.307005).
作者简介
GAO Zhihui is currently an associate professor in School of Mechanical Engineering and Automation, Beihang University, China. She received her PhD degree from School of Mechanical Engineering and Automation, Beihang University, China, in 2007. Her research interests include flexible manipulators, kinematic and dynamicanalysis, vibration control for manipulators, etc.YUN Chao is currently a professor in School of Mechanical Engineering and Automation, Beihang University, China. He received his PhD degree from School of Mechanical Engineering, Tianjin University, China, in 1994. His research interests include robotics, kinematic and dynamic analysis, control for mechanism, etc. Tel： ＋86-10-82338018; E-mail： cyun18@sina.comBIAN Yushu is currently an associate professor in School of Mechanical Engineering and Automation, Beihang University, China. He received his phl） degree from School of Mechanical Engineering and Automation, Beihang University, China, in 1998. His research interests include robot＇s mechanical system design, flexible manipulators, kinematic and dynamic analysis, vibration control for manipulators, etc. Tel： ＋86-10-82317745; E-mail： bian bys@buan.edu.cn
