Title :
Frequency analysis of a flexible robot manipulator
Author :
Wang, Dalong ; Meng, Max
Author_Institution :
Adv. Robotics & Teleoper. Lab., Alberta Univ., Edmonton, Alta., Canada
Abstract :
In this paper, the effect of longitudinal elongation of a flexible robot manipulator is investigated using frequency analysis. The dynamic model of a flexible manipulator without longitudinal elongation is considered and the basic frequency of the flexible manipulator is computed. With the increasing length and weight of the manipulator, the basic frequency decreases. The instability of the dynamic response will occur when the angular velocity exceeds the basic frequency. In order to avoid the unstable dynamics, the longitudinal elongation that is caused by the flexible deformation is considered in the dynamic model. From the frequency analysis, with the increase of angular speed of the manipulator, the basic frequency will rise.
Keywords :
angular velocity; dynamic response; elongation; flexible manipulators; manipulator dynamics; stability; angular speed; angular velocity; dynamic model; dynamic response; flexible deformation; flexible robot manipulator; frequency analysis; instability; longitudinal elongation; unstable dynamics; Angular velocity; Deformable models; Equations; Frequency; Manipulator dynamics; Nonlinear dynamical systems; Propellers; Resonance; Robots; Solid modeling;
Conference_Titel :
Electrical and Computer Engineering, 1999 IEEE Canadian Conference on
Conference_Location :
Edmonton, Alberta, Canada
Print_ISBN :
0-7803-5579-2
DOI :
10.1109/CCECE.1999.804911
