Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator

Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator

An order reduction method for the flexible deformation response analysis of rigid flexible manipulators is proposed based on the approximate inertial manifold theory. This method allows a lower dimensional simplified model to be constructed from a subspace smaller than the entire state space. In thi...

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Main Authors: Xu Lisha, Qian Xiaoshan, Lin Chong
Format: Article
Language:English
Published: EDP Sciences 2021-01-01
Series:E3S Web of Conferences
Online Access:https://www.e3s-conferences.org/articles/e3sconf/pdf/2021/36/e3sconf_aepee2021_03014.pdf
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spelling doaj-2365d2b20b9242ffb61b82972c8627e72021-05-28T14:41:17ZengEDP SciencesE3S Web of Conferences2267-12422021-01-012600301410.1051/e3sconf/202126003014e3sconf_aepee2021_03014Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulatorXu Lisha0Qian Xiaoshan1Lin Chong2School of mechanical and electrical engineering, Central South UniversityPhysical Science and Technology College, Yichun UniversitySchool of mechanical and electrical engineering, Central South UniversityAn order reduction method for the flexible deformation response analysis of rigid flexible manipulators is proposed based on the approximate inertial manifold theory. This method allows a lower dimensional simplified model to be constructed from a subspace smaller than the entire state space. In this paper, truncated three-order modes are used to construct a first-order system of AIM. Compared with the traditional Galerkin method, the results show that the proposed method can reduce the degree of freedom of the system and improve the computational efficiency without obviously losing the precision of the solution, which is convenient for the subsequent vibration analysis and controller design of the system.https://www.e3s-conferences.org/articles/e3sconf/pdf/2021/36/e3sconf_aepee2021_03014.pdf
collection DOAJ
language English
format Article
sources DOAJ
author Xu Lisha
Qian Xiaoshan
Lin Chong
spellingShingle Xu Lisha
Qian Xiaoshan
Lin Chong
Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator
E3S Web of Conferences
author_facet Xu Lisha
Qian Xiaoshan
Lin Chong
author_sort Xu Lisha
title Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator
title_short Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator
title_full Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator
title_fullStr Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator
title_full_unstemmed Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator
title_sort approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator
publisher EDP Sciences
series E3S Web of Conferences
issn 2267-1242
publishDate 2021-01-01
description An order reduction method for the flexible deformation response analysis of rigid flexible manipulators is proposed based on the approximate inertial manifold theory. This method allows a lower dimensional simplified model to be constructed from a subspace smaller than the entire state space. In this paper, truncated three-order modes are used to construct a first-order system of AIM. Compared with the traditional Galerkin method, the results show that the proposed method can reduce the degree of freedom of the system and improve the computational efficiency without obviously losing the precision of the solution, which is convenient for the subsequent vibration analysis and controller design of the system.
url https://www.e3s-conferences.org/articles/e3sconf/pdf/2021/36/e3sconf_aepee2021_03014.pdf
work_keys_str_mv AT xulisha approximateinertialmanifoldbasedorderreductionofrigidflexiblecouplingmanipulator
AT qianxiaoshan approximateinertialmanifoldbasedorderreductionofrigidflexiblecouplingmanipulator
AT linchong approximateinertialmanifoldbasedorderreductionofrigidflexiblecouplingmanipulator
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