Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《China Mechanical Engineering》 2015-07
Add to Favorite Get Latest Update

Natural Frequencies and Modal Shape Characteristics of a Flexible Manipulator with Elastic Joints

Liu Yufei;Li Wei;Yang Xuefeng;Xu Han;China University of Mining and Technology;  
To investigate the effect mechanism of elastic joint on the natural frequencies and modal shapes of flexible manipulators,an elastic restraint model of the flexible manipulator was established. Based on the elastic restraint model,frequency equation and modal shape function of the flexible manipulator with elastic joint(FMEJ) were subsequently derived. Numerical method was conducted to investigate the first three natural frequencies and modal shapes of the FMEJ. The results demonstrate that the elasticity of the joint has considerable effect on the natural frequencies and modal shapes,and assuming the joint as an ideal fixed restraint a noticeable error will present. According to the sensitivity analysis,the linear restraints have a more considerable effect on the natural frequencies than torsional restraints,especially for the higher frequencies. The effect of torsional restraints on the modal shapes is more considerable,with the torsional restraint increases,the modal shapes change which is obvious for the higher modal shapes. Experiment was conducted to verify the elastic restraint model and the results indicate that the constructed model can characterize the elastic restraints of the joint,and approach to the actual situation which has a smaller error.
【Fund】: 国家自然科学基金资助项目(51305444);; 高等学校博士学科点专项科研基金资助项目(20120095120013);; 江苏省科技计划资助项目(BY2014028-06);; 江苏省研究生培养创新工程资助项目(KYLX_1375);; 江苏高校优势学科建设工程资助项目
【CateGory Index】: TH113.1
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 10 Hits
1 MAO Wei-min, ZHU Shi-jian, ZHANG Zhen-zhong(Inst. of Noise & Vibration, Naval Univ. of Engineering, Wuhan 430033, China);Probabilistic sensitivity analysis of double-stage vibration isolationsystem based on flexible foundations[J];Journal of Naval University of Engineering;2005-03
2 WANG Shu-xin, YUN Jin-tian, SHI Ju-rong, LIU You-wu (Department of Intelligent Robot, Institute of Mechanical Engineering, Tianjin University, Tianjin 300072);A ROADMAP OF RESEARCH ON MODELING AND CONTROL STRATEGY FOR FLEXIBLE MANIPULATORS[J];Robot;2002-01
3 Wang Congqing,Zhang Chenglong(College of Automation Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016);Dynamics Modeling and Vibration Suppression of a Free-floating Flexible Dual-arm Space Robotic System[J];Mechanical Science and Technology;2007-02
4 QIU Zhicheng (College of Mechanical Engineering,South China University of Technology,Guangzhou 510641);ACTIVE VIBRATION CONTROL FOR COUPLING SYSTEM OF FLEXIBLE STRUCTURES AND RIGID BODY[J];Chinese Journal of Mechanical Engineering;2006-11
5 LI Yangmin TANG Hui XU Qingsong YUN Yuan(Faculty of Science and Technology,University of Macau,Macao China 999078);Development Status of Micromanipulator Technology for Biomedical Applications[J];Journal of Mechanical Engineering;2011-23
6 HUANG Wenhu 1 CAO Dengqing 1, HAN Zengyao 2 1 School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China 2 China Academy of Space Technology, Beijing 100094, China;ADVANCES AND TRENDS IN DYNAMICS AND CONTROL OF SPACECRAFTS[J];Advances in Mechanics;2012-04
7 Lin Jiahao(Dalian Institute of Technology);SENSITIVITY ANALYSIS IN STRUCTURAL DYNAMIC OPTIMIZATION[J];Journal of Vibration and Shock;1985-01
8 ZHAO Qun,ZHANG Yi-min,ZHAO Jin-fang(Sch0olof Mechanical Engineering&Automation,Northeastern University,Shenyang 110004,China);Sensitivity analysis of powerflow transfer probability for a vibration transfer path system[J];Journal of Vibration and Shock;2009-07
9 Hong Zhaobin Chen Li Fuzhou University,Fuzhou,350108;Neural Network Control Based on Hybrid Trajectory of Space Flexible Manipulators[J];China Mechanical Engineering;2011-02
10 Xie Limin;Chen Li;Fuzhou University;Fujian Agriculture and Forestry University;;Nonlinear Sliding Mode Motion Control and Double Elastic Vibration Active Suppression of Free-floating Flexible-joint and Flexible-link Space Robot[J];China Mechanical Engineering;2013-19
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 LI Kun,YUN Jin-tian(College of Mechanical and Electronic Engineering,Tianjin Polytechnic University,Tianjin 300160,China);Vibration Suppression of a Flexible Manipulator Based on Linear Quadratic Regulator[J];Journal of Hebei University of Technology;2008-03
2 MAO Wei-min1,ZHU Shi-jian1,CHEN Gang2,JIANG Hui-ming3(1.Inst.of Noise & Vibration,Naval Univ.of Engineering,Wuhan 430033,China;2.Postdoctoral Workstation,Navy Academy of Armament,Beijing 100073,China;3.Test & Training Center,Hubei Univ.of Technology,Wuhan 430068,China);Sensitivities analysis of vibration isolation system[J];Journal of Naval University of Engineering;2007-02
3 Guo Xinyhui, Han Erzhong, Yan Shiying (Northeastern University of Technology);AN OPTIMUM DESIGN OF CROSS-SECTIONAL SHAPE OF BEVEL GEAR[J];Journal of Aerospace Power;1989-03
4 Gao Fuan (Aeronautical Computation Technique Institute);SENSITIVITY ANALYSIS OF PARAMETERS IN SOLVING INVERSE PROBLEM OF STRUCTURAL DYNAMICS[J];Acta Aeronautica Et Astronautica Sinica;1986-01
5 Shu Huilin Li Shiqi Sun Limin Zhong Yifang;Dynamic Response and Sensitivity Analysis of Cylindrical Shells Based on Finite Strip Model[J];JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY;2000-03
6 Li Meizhi Postgraduate; College of Civil Eng. & Mechanics, Huazhong Univ. of Sci. & Tech., Wuhan 430074, China. Zhong Weifang Wu Guorong Liang Yide;A numerical method for solving the dynamic equations of the flexible manipulator[J];Journal of Huazhong University of Science and Technology;2004-08
7 LI Dong-ning1,2,ZHAO Yan1,SHEN Cheng-wu1,LIU Chang1(1.Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;2.Graduate School,Chinese Academy of Sciences,Beijing 100039,China);Research on Dynamic Modeling for Flexible Link Manipulators[J];Measurement & Control Technology;2009-12
8 ZOU Lvlong,YU Yibin(Faculty of Engineering,Guangdong Ocean University,Zhanjiang Guangdong 524088,China);Study on Vibration Control for Flexible Beam Robot[J];Machine Tool & Hydraulics;2009-02
9 Zhang Chuanli; Zhang Xibin(Jianghan Petroleum Institute, Jingsha 434102 )Song Tianxia(Huazhong University of Science and Technology, Wuhan 430074, China );Sensitivity Analysis in Dynamic Structure Optimization[J];JOURNAL OF JIANGHAN PETROLEUM INSTITUTE;1994-04
10 YANG Min,LIU Ke-ping*(School of Electrical & Electronic Engineering,Changchun University of Technology,Changchun 130012,China);The research advances in modeling and control method for flexible manipulator[J];Journal of Changchun University of Technology(Natural Science Edition);2011-01
China Proceedings of conference Full-text Database 7 Hits
1 YU Xiao-fei, LIU Tu-guang, YAN Jin (College of Traffic Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China);Response Analysis of Cylindrical Shell under Underwater Explosive Loading and Impact Loading[A];[C];2004
2 ZHAO Qun,ZHANG Yi-min (School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110004,China.;Powerflow of Vibration Transfer Path Systems with Uncertain Paths[A];[C];2009
3 Wang Huhu,Hong Ming (School of Naval Architecture Engineeng Mingring,Faculty of Vehicle Engineering and Mechanics,State Key Laboratory of Structural Analysis for Industrial Equipment,Dalian University of Technology,Dalian Liao ning 116042,China);The dynamic optimization of the closed-wide mast of the naval vessel[A];[C];2009
4 Zhang Yu~1 Zhang Lin~1 Xu Bin~2 (1 School of Aeronautics and Astronautics,Zhejiang University,Hangzhou 310013,China) (2 School of Automation,Northwestern Polytechnical University,Xi'an 710072,China);Sliding-mode controller design and optimization for flexible manipulators based on estimation of distribution algorithms[A];[C];2013
5 Chen Meng;Hao Yong;Zhang Qing;Niu Kun;Shenyang Engine Design and Research Institute;;Interval Sensitivity Analysis Method on Rotordynamics[A];[C];2014
6 Ma Jianjun;Zheng Zhiqiang;Geng Lina;Li Peng;Guo Hongwu;Lu Xingju;;Development of Flight Control[A];[C];2014
7 Yi Wei;Zichen Deng;Yan Wang;Bo Wang;Department of Engineering Mechanics,Northwestern Polytechnical University;;Geometric integration method for dynamic behavior of Tethered subsatellite[A];[C];2014
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 Guan Yuming; Yan Shaoze; Zhang Tiemin; Liu Youwu;Vibration Control of a Flexible Manipulator[J];JOURNAL OF HEBEI UNIVERSITY OF TECHNOLOGY;1999-04
2 WU Zhi gang, YIN Li zhong, WANG Ben li (Dept. of Astronautics and Mechanics, Harbin Institute of Technology, Harbin 150001, China);Identification of joint stiffness by inverse of partial differential equations[J];JOURNAL OF HARBIN INSTITUTE OF TECHNOLOGY;2000-02
3 ZHANG Wei, PANG Bao jun, ZHANG Ze hua (Dept. of Astronautic Engineering and Mechanics, Harbin Institute of Technology, Harbin 150001, China);Performance analysis for spacecraft shield structures against meteoroid and space debris[J];Journal of Harbin Institute of Technology;2002-05
4 WANG Shao-chun, DENG Zong-quan, GAO Hai-bo, HU Ming, HAO Guang-ping (School of Mechanical and Electrical Engineering, Harbin Institute of Technology,Harbin 150001,China, E-mail:hitrobot@sohu. com);Design of impact isolating landing legs for microminiature lunar lander[J];Journal of Harbin Institute of Technology;2004-02
5 DU Zhi-jiang,DONG Wei,SUN Li-ning(Robotics Institute,Harbin Institute of Technology,Harbin 150001,China);Flexure hinge and its application in precision parallel manipulators[J];Journal of Harbin Institute of Technology;2006-09
6 CHEN Xin-long, YANG Di, ZHAI Kun(School of Astronautics, Harbin Institute of Technology, Harbin 150001,China);Analytic method about liquid sloshing for liquid-filled space vehicle[J];Journal of Harbin Institute of Technology;2008-07
7 ZHAO Ying-biao,JING Wu-xing(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China);Robust stability of flexible spacecraft during attitude maneuver[J];Journal of Harbin Institute of Technology;2009-01
8 BAI Zheng-feng,ZHAO Yang,TIAN Hao(Dept.of Astronautic Engineering,Harbin Institute of Technology,Harbin 150001,China);Dynamics simulation of deployment for solar panels with hinge clearance[J];Journal of Harbin Institute of Technology;2009-03
9 XING Yan-jun,ZHANG Shi-jie,CAO Xi-bin(Research Center of Satellite Technology,Harbin Institute of Technology,Harbin 150080,China);Determination of integrated orbit and attitude of satellite based on geomagnetic field measurements[J];Journal of Harbin Institute of Technology;2009-07
10 HE Yong,LIANG Bin,XU Wen-fu,GUO Bi-bo(Institute of Space Intelligent System,Harbin Institute Technology,Harbin 150001,China);Real-time estimation method on tether parameters for tether satellite[J];Journal of Harbin Institute of Technology;2010-07
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved