Dynamic analysis of actuated joint considering multiple clearances coupling flexible manipulator

摘要

A dynamic model considering multiple clearances coupling flexible deformation of the actuated joint in space manipulator is deduced in order to improve motion precision and reliability. The nonlinear factors including radial clearance in bearing, backlash in gear pair and flexible deformation of manipulator are all taken into account in this model. The influence of different rotation forms, clearances and load values on the system dynamic characteristics is studied by numerical simulation. It is indicated in the analysis results that the coupling relationship between multiple clearances and flexible deformation in the manipulator have a significant effect on the kinematic accuracy and the load distribution in the joint. A series of reasonable values are obtained about clearance and load, which can provide guidance for the design and analysis of the actuated joint.