A Vibration and Movement Coupled Modeling Approach of 3 DOF Flexible Joint Manipulators

Wei Zhuang; Yong Hua Huang

doi:10.4028/www.scientific.net/AMR.383-390.5632

Paper Titles

Turn Rate Estimation Based Adaptive IMM Algorithm for Maneuvering Target Tracking
p.5609

Modeling and Simulation of Helicopter Cabin Electromagnetic Environment
p.5615

Tubular Permanent Magnet Linear Synchronous Motor Thrust Fluctuation Optimization
p.5621

Kalman Filter-Based Orbit Determination with Dynamic Model Compensation for a Maneuvered GEO Satellite
p.5626

A Vibration and Movement Coupled Modeling Approach of 3 DOF Flexible Joint Manipulators
p.5632

Tubular Permanent Magnet Linear Synchronous Motor Thrust Optimization
p.5640

Multi-EKF Localization Algorithm for Multi-Robots Formation Navigation
p.5648

Wind Speed Prediction Model Based on Radial Basis Functional Neural Network
p.5656

The Design of PLC SOC Controller by Dual-Core Mutually Exclusive Processor
p.5663

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390A Vibration and Movement Coupled Modeling Approach...

A Vibration and Movement Coupled Modeling Approach of 3 DOF Flexible Joint Manipulators

Abstract:

In order to identify joint contact dynamic parameters of 3 DOF flexible joint manipulators, a vibration and movement coupled modeling approach of the manipulators was proposed. Combining the traveling wave approach of structure and the rotation transformation matrix of joint, the waveguide equations of mechanism were established. Considering the conditions of the general force balance and displacement boundary of each joint, vibration excitation of the system in moving states were obtained. Vibration equations were achieved according to the derived vibration torques and torsional vibration angles. The contact dynamic parameters of joint surface can be identified by using the vibration and movement coupled equation derived in this paper.

You might also be interested in these eBooks

Manufacturing Science and Technology, ICMST2011

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

5632-5639

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.5632

Citation:

Cite this paper

Online since:

November 2011

Authors:

Wei Zhuang, Yong Hua Huang

Keywords:

Coupled Modeling, Flexible Joint, Manipulator, Rotation Transformation Matrix, Traveling Wave

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Spong M W. Modeling and control of elastic joint robots [J]. Transaction of the ASME: Journal of Dynamic Systems, Measurement, and Control, 1987, 109: 310-319.

DOI: 10.1115/1.3143860

Google Scholar

[2] Peng Jigen, Ni Yuanhua, Qiao Hong. Neural network control of flexible-joint robot manipulators[J]. Acta Automatica Sinica, 2007, 33 (2) : 175-180.

DOI: 10.1360/aas-007-0175

Google Scholar

[3] Liu Guohua, Li Liangyu, Zhao Jixue. Research on time-variable- mesh-stiffness of gear pair based on inverse meshing force[J]. Journal of Tianjin Polytechnic University, 2006, 25(6): 54-57.

Google Scholar

[4] Liu Xiaoping, Li Jingyong, Yun Chao, et al. Dynamic Characteristic Analysis of 120kg Spot Welding Robots under Movement [J]. China Mechanical Engineering, 2002, 13(13): 1137- 1140.

Google Scholar

[5] Von Flotow A H. Traveling wave control for large spacecraft structures[J]. Journal of Guidance, Control and Dynamics, 1986, 9(4): 462-468.

DOI: 10.2514/3.20133

Google Scholar

[6] Beale L S, Accorsi M L. Power flow in two- and three- dimensional frame structures[J]. Journal of Sound and Vibration, 1995, 185(4): 685-702.

DOI: 10.1006/jsvi.1995.0409

Google Scholar

[7] Ren Jianting, Deng Changhua, Jiang Jiesheng. Active vibration control of flexible beam based on traveling wave method[J]. Journal of Vibration Engineering, 2006, 19 (1): 98-103.

Google Scholar