Dynamic Modeling of a Flexible-Link Flexible-Joint System with Tip Mass Considering Stiffening Effect
Source abstract
Abstract
This paper presents the dynamic model of a flexible-link, flexible-joint manipulator system with a considerable stiffening effect of the flexible link. A gripper, along with tip mass, is attached at one end of the flexible link. By employing the extended Hamilton’s principle, a nonlinear governing equation of motion is derived along with several boundary constraints. Under the assumption of small deformation in free vibration, a simplified motion equation is deduced to determine the natural frequencies of the mechanical system. Four parameters of the system are selected to carry out the sensitivity study on frequency. The results show that the second frequency mainly depends on the mass of tip payload. Moreover, the third frequency is significantly affected by the moment inertia of tip payload. Regarding the constant angular motion, the finite element method is adopted to analyze the dynamic model by considering the stiffening effect. The frequency results are obtained which show a higher stiffness of the Single Flexible-link Flexible-joint (SFF) system with the angular velocity increasing. The influence of three factors (i.e., payload mass, length of the flexible link, and angular velocity) on the fundamental natural frequencies are discussed, which show instinct characteristics of the flexible manipulator system.
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Research context
OpenAlex topics: Dynamics and Control of Mechanical Systems · Vibration and Dynamic Analysis · Mechanical stress and fatigue analysis
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China
Funding
Fundamental Research Funds for the Central Universities
References (28)
Show source-provided references
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