Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a signific...Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.展开更多
In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The m...In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.展开更多
This study proposed a damage identification method compared with the existing ones,based on relative curvature difference and frequency perturbation theory,showing sensitivity to local damage by changes in the curvatu...This study proposed a damage identification method compared with the existing ones,based on relative curvature difference and frequency perturbation theory,showing sensitivity to local damage by changes in the curvature mode and high recognition accuracy of frequencies.Considering the relative curvature difference as a damage index,numerical simulation is used for a simply supported beam under single and multiple damage conditions for different damage degrees.The damage is located according to the curvature mode curves,and the damage degree is qualitatively determined.Based on the perturbation theory,the damage equations are established by the changes between frequencies before and after damage,and the damage localization and degree are verified and determined.Effectiveness of the proposed method for identifying damage at different conditions is numerically investigated.This method potentially promotes the development of damage identification of beam structures.展开更多
基金Important Project of Science and Technology Research of Ministry of Education of China (No. 307005)National Hi-tech Research and Development Program of China (863 Program, No.SQ2007AA04Z231266).
文摘Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.
基金Ministry of Education Important Research Project of Scienceand Technology of China(307005)National Hi-Tech Research and Development Program of China(SQ2007AA04Z231266)
文摘In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.
基金This study is supported by the National Natural Science Foundation of China under Grant No.51278420the Natural Science Foundation of Shaanxi Province under Grant No.2017JM5021.
文摘This study proposed a damage identification method compared with the existing ones,based on relative curvature difference and frequency perturbation theory,showing sensitivity to local damage by changes in the curvature mode and high recognition accuracy of frequencies.Considering the relative curvature difference as a damage index,numerical simulation is used for a simply supported beam under single and multiple damage conditions for different damage degrees.The damage is located according to the curvature mode curves,and the damage degree is qualitatively determined.Based on the perturbation theory,the damage equations are established by the changes between frequencies before and after damage,and the damage localization and degree are verified and determined.Effectiveness of the proposed method for identifying damage at different conditions is numerically investigated.This method potentially promotes the development of damage identification of beam structures.
