Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load
The flexible Cartesian robotic manipulator (FCRM) is coming into widespread application in industry. Because of the feeble rigidity and heavy deflection, the dynamic characteristics of the FCRM are easily influenced by external disturbances which mainly concentrate in the driving end and the loa...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2017-07-01
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| Series: | Mechanical Sciences |
| Online Access: | https://www.mech-sci.net/8/221/2017/ms-8-221-2017.pdf |
| Summary: | The flexible Cartesian robotic manipulator (FCRM) is coming into
widespread application in industry. Because of the feeble rigidity and heavy
deflection, the dynamic characteristics of the FCRM are easily influenced by
external disturbances which mainly concentrate in the driving end and the
load end. Thus, with the influence of driving base disturbance and terminal
load considered, the motion differential equations of the FCRM under the
plane motion of the base are constructed, which contain the forced and
non-linear parametric excitations originated from the disturbances of base
lateral and axial motion respectively. Considering the relationship between
the coefficients of the motion differential equations and the mode shapes of
the flexible manipulator, the analytic expressions of the mode shapes with
terminal load are deduced. Then, based on multiple scales method and
rectangular coordinate transformation, the average equations of the FCRM are
derived to analyze the influence mechanism of base disturbance and terminal
load on the system parametric vibration stability. The results show that
terminal load mainly affects the node locations of mode shapes and mode
frequencies of the FCRM, and the axial motion disturbance of the driving base
introduces parametric excitation while the lateral motion disturbance
generates forced excitation for the transverse vibration model of the FCRM.
Furthermore, with the increase of the base excitation acceleration and
terminal load, the parametric vibration instability region of the FCRM
increases significantly. This study will be helpful for the dynamic
characteristics analysis and vibration control of the FCRM. |
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| ISSN: | 2191-9151 2191-916X |