Title :
Elastic motion stability analysis of flexible manipulator arm
Author :
Guangrui, Liu ; Yuan, Chen ; Wenjing, Wu ; Zhen, Huang
Author_Institution :
Mech. Eng. Sch., Zhengzhou Univ., Zhengzhou, China
Abstract :
The end position addition mass and activation joint rotary inertia have important effect on elastic motion stability of flexible manipulator arm. On the basis of mode analysis, the dynamics model of flexible manipulator arm is deduced using Lagrange equation, the state space expression and transfer function are deduced after state variable and input-output are selected. The necessary and sufficient condition of input-output stability and stability criterion of flexible manipulator arm are deduced, based on this, the effect of end position addition mass and activation joint rotary inertia on the motion stability of flexible manipulator arm is analysed.
Keywords :
elasticity; flexible manipulators; input-output stability; manipulator dynamics; stability criteria; state-space methods; transfer functions; Lagrange equation; activation joint rotary inertia; dynamic model; elastic motion stability; end position addition mass; flexible manipulator arm; input-output stability; mode analysis; necessary and sufficient condition; state space expression; transfer function; Analytical models; Manipulator dynamics; Mathematical model; Stability criteria; Vibrations; activation joint rotary inertia; end position addition mass; necessary and sufficient condition of input-output stability;
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
DOI :
10.1109/ICEICE.2011.5777346
