Sensitivity Analysis of Coupled Bending and Torsional Vibrations in FlexibleRobot Arms

摘要

The aim of the paper is to give a detailed sensitivity analysis of coupledbending and torsional vibrations in flexible robot arms due to an asymmetric tip body. To describe the beam dynamics and the rigid appendage (payload or tip body), a Euler-Bernoulli model is considered with Voigt-type internal damping. The author assumed different damping terms in bending and in torsion, respectively. He provides the exact solutions in the frequency domain (the so-called distributed transfer functions) and shows some of their interesting properties, 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 one can develop the logarithmic parameter sensitivity functions and investigate their properties.