基于饱和原理的柔性机械臂减振研究

In this paper, a rigid-flexible coupling flexible manipulator was studied. A semi-active internal resonance vibration absorber with nonlinear coupling term was established. By adjusting the parameters of the vibration absorber, a 2:1 internal resonance between the first-order vibration mode of the flexible manipulator and the vibration mode of the vibration absorber was formed. As a result, an energy path between the two vibration modes was established. The nonlinear dynamic equations of the flexible manipulator equipped with the internal resonance absorber were established by using the Kane method. The approximate steady-state solutions of the nonlinear dynamic equations were obtained by using the multi-scale method. With the analysis of the existence of steady-state solutions, the saturation phenomenon of the system was proved to be existed; the existence of saturation phenomenon and effectiveness of the vibration absorber were verified by numerical simulation.