Dynamic Effect of Decreased Connecting Stiffness for Flexible Robotic Manipulator Based on Vibration Energy Distribution Chracterisitic

Abstract

This paper proposes an approach to reveal the dynamiceffect of decreased connecting stiffness for the flexible robotic manipulator (FRM)based on vibration energy distribution characteristic. Firstly, the coupled dynamic model of the FRM system is established. Based onthe established coupled dynamic model, the steady-state power flow isstudied to conduct a comprehensive evaluation for the dynamic characteristics of the FRM with varyingconnecting stiffness. Base on the results, dynamic effect of the decreased stiffness connecting jointsis revealed and it indicates that the connecting stiffness decreasehas significant influence on the dynamic characteristic of the FRM and should be accurately controlled.