Dynamic Start-up Accelerating Chracterisitic of the Flexible Robotic Manipulator Based on Virtual Prototype Experiment

To accurately obtain the overall dynamic characteristics of the flexible robotic manipulator (FRM) in the whole operating process, the dynamic modeling and vibration characteristic of the FRM in the star-up accelerating process are investigated in this paper. Regarding the process of achieving a uniform motion involves a start-up accelerating process and a uniform running process, the initial conditions of the vibration responses are determined and considered in the dynamic modeling, which have considerable influence on the dynamic properties of FRMs and are ignored and defined as zero in the existent literatures however. The Hamilton's principle is introduced to establish the dynamic model of the FRM. Based on the established dynamic model, the vibration responses of the FRM with varied velocities are obtained and analyzed. Through virtual prototype experiment, the proposed dynamic model of the FRM is verified. The results obtained in this paper are significant for accurately evaluating the overall dynamic characteristics in the whole operating process.