基于振动能量分布特性的柔性机械臂连接刚度降低的动态效应

2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI:10.1109/ICMRA.2018.8490553

Xi Zhang, Yufei Liu, Dezhang Xu

{"title":"基于振动能量分布特性的柔性机械臂连接刚度降低的动态效应","authors":"Xi Zhang, Yufei Liu, Dezhang Xu","doi":"10.1109/ICMRA.2018.8490553","DOIUrl":null,"url":null,"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.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Dynamic Effect of Decreased Connecting Stiffness for Flexible Robotic Manipulator Based on Vibration Energy Distribution Chracterisitic\",\"authors\":\"Xi Zhang, Yufei Liu, Dezhang Xu\",\"doi\":\"10.1109/ICMRA.2018.8490553\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":190744,\"journal\":{\"name\":\"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)\",\"volume\":\"62 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMRA.2018.8490553\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMRA.2018.8490553","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

本文提出了一种基于振动能量分布特性来揭示柔性机械臂连接刚度降低的动力学效应的方法。首先，建立了FRM系统的耦合动力学模型。在建立的耦合动力模型的基础上，研究了稳态潮流，对不同连接刚度的FRM动态特性进行了综合评价。分析结果表明，降低刚度连接节点的动态效应对FRM的动态特性有显著影响，应进行精确控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

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

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

自引率

0.00%

发文量