Abstract
Aiming at the problem that the inertia effect of the tip mass causes the accuracy decrease of the manipulator’s movement, the floating coordinate system was utilized to describe the manipulator’s elastic deformation displacement, and the nonlinear coupling term caused by the transverse deformation was taken into account. According to Lagrange equation of the second type, the system dynamics equation expressed by the modal function was derived. Combined with numerical simulation, the influence of the tip mass on the vibration characteristics of the system was analyzed. Studies have shown that the tip load of the flexible manipulator increases the vibration response amplitude of the system and reduces the response frequency. Reducing the length of the manipulator is beneficial to improve its motion accuracy. Research results have application value for manipulator optimization design and reliability evaluation.
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