Dynamic Modeling and analysis of Space Manipulator Considering the Flexible of Joint and Link

被引：4
作者：
Dong, Pan [1 ]
Yang, Zhao [1 ]
Yue, Zhang [1 ]
Cheng, Wei [1 ]
Wei, E. [1 ]
机构：
[1] Harbin Inst Technol, Dept Aeronaut, Harbin 150001, Peoples R China
来源：
COMPUTING, CONTROL AND INDUSTRIAL ENGINEERING IV | 2013年 / 823卷
关键词：
space manipulators; flexible joint; flexible link; dynamical model; position accuracy; FORMULATION;
D O I：
10.4028/www.scientific.net/AMR.823.270
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The long length, light weight, low frequency, flexible joint and link of large space manipulators impact dynamic stability and position accuracy seriously. In this paper, dynamical model of space flexible manipulators system is build base on Lagrange method. With three DOF manipulators as the research object, the impact of flexible link, joint stiffness and clearance on the system frequency and end position accuracy of manipulator is simulated and analyzed. The results indicate that the flexible joint lead to low frequency vibration and flexible link lead to high frequency vibration. Low frequency vibration is the dominant impact of end position accuracy, Flexible joint have greater impact on the dynamic characteristics of system than that of flexible link
引用
收藏
页码：270 / 275
页数：6
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