On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators

被引：0

作者：

Fei-Yue Wang ^{[1
,2
,3
]}

Yanqing Gao ^{[4
]}

机构：

[1] IEEE

[2] State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences

[3] Research Center of Computational Experiments and Parallel Systems,the National University of Defense Technology

[4] Department of Manufacturing & Mechanical Engineering & Technology,Oregon Institute of Technology

来源：

IEEE/CAAJournalofAutomaticaSinica | 2016年 / 3卷 / 04期

关键词：

Flexible manipulators; Euler-Bernoulli dynamical model; Timoshenko dynamical model; variational formulation; vibration frequency; frequency sensitivity; sensitivity analysis; mode orthogonality;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub,and mass,moment,and side of tip load.Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed.By using variational method,sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies.Based on variational formulations,a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced.With this method,the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part,as commonly used in their derivation.

引用

页码：394 / 397

页数：4

共 3 条

[1] Review of Control and Sensor System of Flexible Manipulator
Kiang, Chang Tai
Spowage, Andrew
Yoong, Chan Kuan
[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2015, 77 (01) : 187 - 213
[2] Dynamic analysis of flexible manipulators, a literature review[J] . Santosha Kumar Dwivedy,Peter Eberhard. Mechanism and Machine Theory . 2006 (7)
[3] Influences of rotatory inertia, shear and loading on vibrations of flexible manipulators .2 Wang,F.Y,Guan,G. Journal of Sound and Vibration . 1994

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