Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Roth Criterion of Control System

Abstract:

In order to study the elastic motion stability of flexible manipulator arm , to analyze the effect of the end position addition mass and rotary inertia on the elastic motion stability ,and to compute the maximum dynamic allowable payload , the physics model of a flexible manipulator arm is established , the differential equation of elastic motion of the flexible manipulator arm is solved using the method of the separation of time and space and the method of Laplace transformation , the dynamic model of flexible manipulator arm carried addition mass on its end position is established ,simplified and truncated using Lagrange equation . the state space expression and transfer function are established with the state variable and control input and output variable designated , the elastic motion stability rule is built upon and simplified using Roth criterion . The influence of the end position addition mass and articulation rotational inertia of flexible manipulator arm on its elastic motion stability is analyzed using the stability rule and the dynamic maximum allowable payload of flexible manipulator arm on its end position is computed in order to guarantee its elastic motion stability .

• Periodical: Applied Mechanics and Materials (Volume 620)
• Pages: 330-336
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.620.330
• Online since: August 2014
• Authors: Guang Rui Liu*, Lan Fen Niu, Xin Tian
• Keywords: Drive Joint Rotational Inertia, Dynamic Maximum Allowable Payload, Elastic Motion Stability, Flexible Manipulator Arm, Roth Criterion

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