Abstract:
A complex number node analysis approach is proposed for
vibration reducing of structural flexible redundant manipulators
by utilizing self-motion. In the proposed approach, the
self-motion is evaluated to nullify the modal excitingforce of
flexural motion, and the approach can be freely used when the
degree of freedom of flexural motion is much greater than the
available degree of reundancy. The availability and
effectiveness of the proposed approach are demonstrated through
numerical simulation with a four-link spatial robotic
manipulator possessing an end flexible link.
Key words: Redundant
manipulators Self-motion Vibration reducing Complex number mode
analysis
*
This project
is supported by National Natural Science Foundation of China (No.60084002).
Manuscript received on April 26, 2000; revised manuscript May 20, 2000
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