In this paper, the nonlinear elastic manipulator system is taken as the research object. According to the relevant knowledge of mechanical vibration, the elastic manipulator is simplified to the mode analysis of the robotic arm by the Euler–Bernoulli beam, and the dynamic model of the system is established by using the Lagrange equation, in order to simplify the complexity of the calculation, in order to ignore some tiny amounts of the equation system and some nonlinear terms of high powers, the multi-scale method in the nonlinear vibration approximation analysis method is used to solve the dynamic model of the system. The results show that the approximate solution obtained is perfectly consistent with the analytical solution. And, the amplitude–frequency characteristic curve of the main resonance of the system is obtained, which shows that the peak value of the main resonance of the system is not only related to the amplitude of the excitation force but also related to the damping coefficient of the system.
Nonlinear Dynamic Analysis of Elastic Robotic Arms
Lect.Notes Mechanical Engineering
International conference on Advancement in Materials, Manufacturing, and Energy Engineering ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
2023-08-09
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Research in Lightweight Elastic Robotic Arms
NTIS | 1993
|Advanced Robotic Arms in Space
AIAA | 2004
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