A Robotic Manipulator with Parallelogram Hinged Electromechanical System

摘要

In this paper, the nonlinear vibration of the of robotic manipulator with parallelogram hinged mechanism is studied. The relation between the nonlinear vibration of the system and the parameters of the system is obtained. The studies show that the nonlinear resonance of the system are not only related to the structure parameters of the robotic manipulator, but also to the rotational frequency of rotor and the rotating field frequency of stator of the controllable motor, and that under certain conditions, there exist internal resonance, superharmonic resonance, 1/2-order sub-harmonic resonance, 1/3-order sub-harmonic resonance, combination resonance, and multiple resonance.