Dynamic performance optimization for flexible manipulators based on their structure features

In order to enhance dynamic performance of the flexible manipulator, an idea is suggested for optimizing dynamic performance by the way of improving the topological structure of the flexible manipulator. A type of local motion is introduced to the flexible manipulator by the branch links, which can be used to enhance dynamic performance of the flexible manipulator via dynamic coupling. Using the modal theory, vibration control for the flexible manipulator is transformed into the modal space. By planning local motion of the branch links, the appropriate modal control force can be constructed to decrease the exciting force and obtain the desired damping property, thereby suppressing lower level vibration of the flexible manipulator. Finally, some numerical simulations are carried out, and the corresponding results verify the feasibility of the method.