TY - GEN
T1 - Vibration suppression of the flexible joint manipulator based on controllable local degrees of freedom
AU - Gao, Zhihui
AU - Yu, Jingjing
AU - Bian, Yushu
PY - 2011
Y1 - 2011
N2 - In order to suppress vibration of the flexible-joint manipulator, a new topological structure of the manipulator with the controllable local degrees of freedom is suggested. By kinematic and dynamic analysis, it is found that arbitrary motions introduced by the controllable local degrees of freedom are independent of the nominal end-effector motion, but can greatly affect dynamic performance of the manipulator. As a result, a vibration control strategy is put forward based on the controllable local degree of freedom. By planning the branch link motion, the vibration of the flexible-joint manipulator can be reduced. The results of numerical simulations verify the effectiveness of the vibration control strategy proposed in this paper.
AB - In order to suppress vibration of the flexible-joint manipulator, a new topological structure of the manipulator with the controllable local degrees of freedom is suggested. By kinematic and dynamic analysis, it is found that arbitrary motions introduced by the controllable local degrees of freedom are independent of the nominal end-effector motion, but can greatly affect dynamic performance of the manipulator. As a result, a vibration control strategy is put forward based on the controllable local degree of freedom. By planning the branch link motion, the vibration of the flexible-joint manipulator can be reduced. The results of numerical simulations verify the effectiveness of the vibration control strategy proposed in this paper.
KW - Controllable local degrees of freedom
KW - Flexible-joint manipulator
KW - Optimization
KW - Vibration
UR - https://www.scopus.com/pages/publications/79961177502
U2 - 10.4028/www.scientific.net/AMM.66-68.989
DO - 10.4028/www.scientific.net/AMM.66-68.989
M3 - 会议稿件
AN - SCOPUS:79961177502
SN - 9783037851852
T3 - Applied Mechanics and Materials
SP - 989
EP - 994
BT - Mechanical, Materials and Manufacturing Engineering
T2 - 2011 International Conference on Mechanical Materials and Manufacturing Engineering, ICMMME 2011
Y2 - 20 June 2011 through 22 June 2011
ER -