Resonance Analysis of Manipulators with Flexible Link and Flexible Joint


Article Preview

Worse than common vibration, resonance is a form of severe vibration. It is very important and useful to know what factors and conditions can result in resonance of flexible manipulators, when both link flexibility and joint flexibility are taken into account. In this paper, resonance analysis of the flexible manipulator with both link flexibility and joint flexibility is studied. Based on the flexible dynamic equations, main factors resulting in resonance of the flexible manipulator are analyzed. Furthermore, several conditions exciting resonance are derived and verified with numerical simulations. These conclusions are helpful to predict resonance and useful to the structure design and motion planning for a flexible manipulator to evade resonance



Advanced Materials Research (Volumes 383-390)

Edited by:

Wu Fan




Z. H. Gao and Y. S. Bian, "Resonance Analysis of Manipulators with Flexible Link and Flexible Joint", Advanced Materials Research, Vols. 383-390, pp. 2868-2874, 2012

Online since:

November 2011




[1] B.O. Al-Bedoor, A.A. Almusallam, Dynamics of flexible-link and flexible-joint manipulator carrying a payload with rotary inertia, Mechanism and Machine Theory, vol. 35, pp.785-820, (2000).


[2] B. Subudhi, A.S. Morris, Dynamic modeling, simulation and control of a manipulator with flexible links and joints, Robotics and Autonomous Systems, vol. 41, pp.257-270, (2002).


[3] H. Zohoor, S.M. Khorsandijou, Dynamic model of a flying manipulator with two highly flexible links, Applied Mathematical Modelling. vol. 32, pp.2117-2132, (2008).


[4] LIOU F W, PENG K C, Experimental frequency response analysis of flexible mechanisms, Mech Mach Theory. Vol. 28, pp.73-81, (1993).

[5] NAGARAJAN S, TURCIC D A, Experimental verification of critical speed ranges for elastic closed loop linkage systems, 21st Biennial Mechanism Conference, Flexible Mechanism, Dynamics, and Robot Trajectories, Sep 16-19, 1990, Chicago, IL, USA. New York: ASME, pp.9-14, (1990).


[6] YU Yueqing, LI Zhe, Dynamics of mode mechanism,. Beijing: Beijing University of Technology Press, (1998).

[7] NAGARAJAN S, TURCIC D A, Dynamic stability considerations in elastic closed loop linkage systems, Trans. ASME, J. Mech. Design, vol. 114, pp.131-136, (1992).


[8] ALDERS D, KENNEL R, KRAH J O, et al. Suppressing low frequency resonance oscillations of a two-mass system by active damping, European Power Electronics and Drives Journal, vol. 15, pp.29-34, (2005).


[9] Yu S D, Cleghorn W L, Dynamic instability analysis of high-speed flexible four-bar mechanisms, Mechanism and Machine Theory, vol. 37, pp.1261-1285, (2002).


[10] GAO Zhihui, YUN Chao, BIAN Yushu, Study on dynamic singularity for flexible manipulators, Chinese Journal of Mechanical Engineering (in Chinese), vol. 40, pp.64-69, (2004).


[11] GAO Zhihui, YUN Chao, BIAN Yushu. Coupling effect of the flexible joint and the flexible link on the dynamic singularity of the flexible manipulator, Chinese Journal of Mechanical Engineering, vol. 21, pp.15-18, (2008).


Fetching data from Crossref.
This may take some time to load.