Coupled dynamic model and vibration responses characteristic of a motor-driven flexible manipulator system

摘要

Motor-driven flexible manipulator systems (MDFMSs) arewidely used in industry robot fields. During the dynamic modeling, theseparate investigation method which neglects the dynamic behavior of thedriving motor will cause an error in the dynamic analysis of the flexiblemanipulator, especially with high-speed operations. This paper proposes acoupled dynamic model of the MDFMS in which the driving motor and flexiblemanipulator are considered as an integrated system, which can clearly reflect the influenceof the dynamic effect of the driving motor. Based on the proposed dynamicmodel, the vibration responses of the flexible manipulator under differentvelocities, accelerations and structure parameters, as well as the effect mechanismof the driving motor on the vibration responses, are investigated. Theresults obtained in this paper contribute to the structure design, motionoptimization and dynamic analysis of flexible manipulators.