Internal resonance property of flexible under-actuated manipulators

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.