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Electromechanical Coupling Dynamic Model and Speed Response Characteristics of the Flexible Robotic Manipulator

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

The flexible robotic manipulator, which has the advantages of lightweight, flexible operation and low energy consumption, is a typical electromechanical coupling system containing the driving system, transmission system and flexible manipulator. Considering the driving motor, transmission system and flexible manipulator as an integrated object, the electromechanical coupling dynamic model of the flexible robotic manipulator system (FRMS) was constructed based on the overall coupling relationship and electromechanical dynamics analysis approach. To reveal the electromechanical coupling mechanism of the FRMS, the speed response characteristics under electromechanical coupling effects are presented. The results indicate that the electromechanical coupling factors have significant impacts on the dynamic property of the FRMS, which are meaningful for the design and control of flexible robotic manipulators.

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Acknowledgements

This research work is supported by the Natural Science Research Project of Higher Education of Anhui Province (no. KJ2017A118), the Project funded by China Postdoctoral Science Foundation (no. 2017M612060) and the Research Starting Fund Project for Introduced Talents of Anhui Polytechnic University (no. 2016YQQ012). The authors sincerely thank the reviewers for their significant and constructive comments and suggestions.

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Authors and Affiliations

  1. School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu, 241000, China

    Yufei Liu & Dezhang Xu

  2. School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, China

    Yufei Liu & Bin Zi

  3. Engineering Research and Training Center, Anhui Polytechnic University, Wuhu, 241000, China

    Xi Zhang

Authors
  1. Yufei Liu
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  2. Bin Zi
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  3. Xi Zhang
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  4. Dezhang Xu
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Corresponding author

Correspondence to Yufei Liu .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Liu, Y., Zi, B., Zhang, X., Xu, D. (2017). Electromechanical Coupling Dynamic Model and Speed Response Characteristics of the Flexible Robotic Manipulator. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_9

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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