Dynamic Modeling and Elastic Vibration Scale Effect of 2F2R Macro Micro Manipulator

doi:10.3901/JME.2017.21.065

Abstract

Abstract: Flexible-macro rigid-micro manipulator is a typical series hybrid rigid flexible manipulator system. The finite element method is used to study the 2F2R macro micro manipulator. By detailed analysis, a dynamic model with general significance is derived and established. Based on the given joint space trajectory, the relationship and the change law of the structure parameters, the section parameters, the material, the lumped mass distribution of the 2F2R macro micro manipulator arm and the system elastic vibration scale effect are analyzed. On this basis, the macro micro space decomposition method is adopted to further analyze the relationship between the design parameters and the elastic vibration scale effect according to the motion trajectory of the operating space. Through the above two aspects of research work, a lot of valuable research results are obtained, which are of great significance to the design and control of this kind of macro micro manipulator arm.

Key words: 2F2R macro micro manipulator, dynamic model, elastic vibration, scale effect

CLC Number:

TH113

GAO Sheng, LI Meijie, YANG Mingyan, ZHANG Piaoshi, REN Fushen. Dynamic Modeling and Elastic Vibration Scale Effect of 2F2R Macro Micro Manipulator[J]. Journal of Mechanical Engineering, 2017, 53(21): 65-78.

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