On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators |
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| Authors: | Wang Fei-Yue Gao Yanqing |
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| Affiliation: | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China2.Research Center of Computational Experiments and Parallel Systems, the National University of Defense Technology, Changsha 410073, China3.Department of Manufacturing & Mechanical Engineering & Technology, Oregon Institute of Technology, Klamath Falls, OR 97601, USA |
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| Abstract: | This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub, and mass, moment, and side of tip load. Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed. By using variational method, sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies. Based on variational formulations, a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced. With this method, the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part, as commonly used in their derivation. |
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| Keywords: | Flexible manipulators Euler-Bernoulli dynamical model Timoshenko dynamical model variational formulation vibration frequency frequency sensitivity sensitivity analysis mode orthogonality |
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