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Effect of Motion Disturbances on the Vibration Responses of a Flexible Manipulator
並列摘要
This paper investigates the effect of motion disturbances on the vibration responses of a flexible manipulator. Considering the motion disturbances as harmonic disturbances, the dynamic model of the flexible manipulator with harmonic disturbance motions (FMHDM) is established. Based on the assumed modes method and Lagrange approach, vibration displacements and energy distributions of the FMHDM are presented to investigate the effect of the motion disturbances. To verify the dynamic model and numerical simulation results, an ADAMS physical model is constructed. It indicates that the motion disturbances have considerable effect on the vibration responses of the FMHDM, and the results of the ADAMS physical model and numerical simulation are well consistent. The results obtained in this paper are significant for further vibration control of flexible manipulators.
延伸閱讀
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