Analysis of nonlinear vibration of a robotic manipulator electromechanical coupling system while plane motion
- Resource Type
- Conference
- Authors
- Wang, Rugui; Cai, Ganwei; Xiaorong Zhou; Yanzhou Li
- Source
- 2010 International Conference on Mechanic Automation and Control Engineering Mechanic Automation and Control Engineering (MACE), 2010 International Conference on. :2280-2284 Jun, 2010
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Robotics and Control Systems
Couplings
Motion analysis
Manipulator dynamics
Control systems
Frequency
Parallel robots
Nonlinear control systems
Nonlinear dynamical systems
Nonlinear equations
Finite element methods
robotic manipulator
servomotor
electromechanical coupling
nolinear vibration
resonance
- Language
This paper studies the nonlinear vibration of robotic manipulator with parallelogram hinged mechanism while it motioned in plane. The controllable motor and the hinged mechanism are studied in an integrated manner, and the electromechanical coupling nonlinear dynamic equation of the system is established by finite element method. The relation between the nonlinear vibration of the system and the parameters of the system is obtained by the method of multiple scales. Results show that the ultraharmonic resonances of the system are not only related to the structure parameters of the robotic manipulator, but also to the rotational frequency of rotor and the rotating field frequency of stator of the controllable motor. Finally, a numerical example is presented.