Sensitivity Analysis of Coupled Bending and Torsional Vibrations in FlexibleRobot Arms

摘要

A sensitivity analysis of coupled bending and torsional vibrations in flexible robot arms due to an asymmetric tip body is presented. To describe the beam dynamics and the rigid appendage (payload or tip body), an Euler-Bernoulli model is considered with Voigt type of internal damping. Different damping terms in bending and in torsion were assumed, respectively. The exact solutions in the frequency domain (the so called distributed transfer functions) are provided and some of their interesting properties are shown, among other things a pole cancellation effect due to the torsional vibration. The system dynamics depend on the payload parameter in a nonlinear way, but based on the exact solutions, the logarithmic parameter sensitivity functions can be developed and their properties can be investigated.