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Volume 31 Issue 08
Aug.  2005
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Journal of Beijing University of Aeronautics and Astronautics  > 2005  >  31(08): 913-916.
Jiang Jie, Li Xiao, Zhang Guangjun, et al. Fast star tracking technology in star sensor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(08): 877-880. (in Chinese)
Citation: He Guangping, Lu Zhen, Wang Fengxianget al. Internal resonance property of flexible under-actuated manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(08): 913-916. (in Chinese)
shu

Internal resonance property of flexible under-actuated manipulators

  • 1.

    School of Mechanical and Electrical Engineering, North China University of Technology, Beijing, 100041, China

  • 2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 28 Mar 2004
  • Publish Date: 31 Aug 2005
    Abstract
  • The dynamic feature of the flexible underactuated manipulator under the state of free-swings or locked of the passive joints was analyzed. Through the nonlinear dynamic analyzing of a planar two-links flexible underactuated manipulator, it can be found that the internal resonance of the multi-modal nonlinear dynamic mechanical system influenced the vibration of the system considerably, An attractive property of the internal resonance of the flexible underactuated manipulator was that it could decrease the vibration of the end of the manipulator effectually with selecting appropriate parameters of the structure. Based on the dynamic analysis results, an open-looped control method, which had some merits in stabilizing the system or realizing by actuator than a closed-loop one for decreasing the structural vibration of the flexible underactuated manipulator, was suggested. A two-links flexible underactuated manipulator was molded mathematically and simulated numerically. The simulation results show some aspects of the research.

     

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    • References(1)
  • [1] Hirohiko Arai. Position control of a manipulator with passive joints using dynamic coupling [J]. IEEE Trans on Robotics and Automation, 1997,13(4):528~534 [2] Hirohiko Arai. Time-scaling control of an under-actuated manipulator . J of Robotic Systems, 1998, 15(9):525~536 [3] Bushnell L G, Tilbury D M, Satry S S. Steering three-input nonholonomic systems:the fire truck example [J].The International Journal of Robotics Research, 1995, 14(4):366~381 [4] Ranjan Mukherjee, Degang Chen. Control of free-flying under-actuated space manipulators to equilibrium manifolds [J]. IEEE Trans on Robotics and Automation, 1993, 9 (5):561~570 [5] Marcel Bergerman, Yangsheng Xu. Optimal control of manipulators with any number of passive joints [J]. Journal of Robotic Systems, 1998,15(3):115~129 [6] 李端玲,戴建生,张启先,等. 基于构态变换的变胞机构结构综合[J]. 机械工程学报,2002, 38(7):12~16 Li Duangling, Dai Jiansheng, Zhang Qixian, et al. Structure synthesis of metamorphic mechanisms based on the configuration transformations [J]. Chinese Journal of Mechanical Engineering, 2002, 38(7):12~16 (in Chinese)
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