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Modeling and Dynamic Characteristic Analysis of Flexible Manipulator

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Proceedings of 2017 Chinese Intelligent Systems Conference (CISC 2017)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 459))

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Abstract

The dynamic model of the flexible link manipulators (FLMs) is established and dynamic characteristic is analyzed in the paper. First, in order to improve the accuracy of the system, the model of the FLMs is constructed based on the assumed mode method with boundary conditions; second, the natural frequency and vibration mode functions are analyzed in detail. The residual vibration of the loaded flexible arm tip is derived. A simple controller is adopted to inhibit vibration. This research has provided a foundation for refinement of the FLMs model and for the active control of the vibration analysis, which possess a high practical value in engineering.

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Acknowledgements

The author would like to thank the anonymous reviewers for their constructive and insightful comments for further improving the quality of this work. This work was supported by National Natural Science Foundation of China (No. 61520106010), National Key Technologies R&D Program (No. 2013BAB02B07) and National Natural Science Foundation of China (No. 61603362).

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Authors and Affiliations

  1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

    Yuzhen Zhang, Qing Li & Weicun Zhang

Authors
  1. Yuzhen Zhang
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  2. Qing Li
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  3. Weicun Zhang
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Corresponding author

Correspondence to Weicun Zhang .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Zhang, Y., Li, Q., Zhang, W. (2018). Modeling and Dynamic Characteristic Analysis of Flexible Manipulator. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 459. Springer, Singapore. https://doi.org/10.1007/978-981-10-6496-8_58

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  • DOI: https://doi.org/10.1007/978-981-10-6496-8_58

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6495-1

  • Online ISBN: 978-981-10-6496-8

  • eBook Packages: EngineeringEngineering (R0)

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