COMPLEX NUMBER MODE APPROACH FOR REDUCING VIBRATION OF STRUCTURAL FLEXIBLE REDUNDANT ROBOT MANIPULATORS

被引：0

作者：

Wu Licheng Sun Zengqi Sun Fuchun Department of Computer Science and Technology

机构：

来源：

Chinese Journal of Mechanical Engineering(English Edition) | 2001年 / 02期

关键词：

Redundant manipulators Self motion Vibration reducing Complex number mode analysis;

D O I：

暂无

中图分类号：

TH113.1 [机械振动学];

学科分类号：

080203 ;

摘要：

A complex number mode analysis approach is proposed for vibration reducing of structural flexible redundant manipulators by utilizing self motion. In the proposed approach, the self motion is evaluated to nullify the modal exciting force of flexural motion, and the approach can be freely used when the degree of freedom of flexural motion is much greater than the available degree of reundancy. The availability and effectiveness of the proposed approach are demonstrated through numerical simulation with a four link spatial robotic manipulator possessing an end flexible link.

引用

页码：102 / 105

页数：4