Abstract
The nonstationary transition status of the motor start-up phase creates great threat against the stable operation of the flexible manipulator system. This article investigates the electromechanical coupling dynamics and vibration response characteristics for a flexible manipulator of an alternating current servomotor-driven linear positioning platform with considering the start-up dynamic characteristics of the motor. Based on the constructed global electromechanical coupling effect and the Lagrange–Maxwell equations, the dynamic model of the whole system is established. The electromechanical coupling vibration mechanism of the flexible manipulator is obtained by analyzing the multiphysical process and multiparameter coupling phenomenon of the whole system. The result demonstrates that the nonstationary transition status of the motor initialization phase is mainly manifested during the disturbance of the three-phase stator current. As the speed of the linear positioning platform increases, the current disturbance, arousing the change of the servo driving force of the linear positioning platform, has dominant frequency shift and frequency amplitude decrease. Then, the vibration response of the flexible manipulator is markedly affected and the variation of the high-order modes vibration response is more obvious. The analysis result is significant for improving the dynamic performance of the motor-driven flexible robot manipulator system.
Highlights
As the modern robot technology is developing to lower energy consumption, higher speed, and higher precision, there has been increasing attention on the flexible manipulator.[1,2,3,4] Compared with the rigid manipulator, the flexible manipulator has many advantages such as lower energy consumption, higher load weight ratio, and higher speed
Ballscrew transmission system θ(t) influences of temperature and frequency on the motor parameters are neglected; (2) the motor air gap is uniform; (3) the self-inductance and mutual-inductance among the motor three-phase windings are assumed as constants; (4) the flexible manipulator is simplified as an Euler–Bernoulli beam by neglecting the impact of shear and axial deformation; and (5) the influence of gravity is ignored
The quadrature axis current, which couples with the vibration modal coordinates of the flexible manipulator, can synthetically reflect the influence of the dynamic behavior of the permanent magnet synchronous AC servomotor (PMSM) on the electromechanical coupling vibration characteristics of the flexible manipulator
Summary
As the modern robot technology is developing to lower energy consumption, higher speed, and higher precision, there has been increasing attention on the flexible manipulator.[1,2,3,4] Compared with the rigid manipulator, the flexible manipulator has many advantages such as lower energy consumption, higher load weight ratio, and higher speed. Dwivedy and Kar investigated the nonlinear dynamic characteristics of a parametrically excited cantilever beam, the base of which was under harmonic excitation.[21] Liu studied the vibration response of a flexible manipulator which was driven by a moving base and confirmed that the rigid base, with its motion disturbances, had a significant influence on the vibration response.[22] in order to satisfy the system’s requirements of high accuracy, high-speed performance, and strong adaptability, the alternating current (AC) servomotors are often adopted for the base driving devices of the flexible robot manipulator. The structure of this article is organized as follows: The section ‘‘Electromechanical coupling dynamic modeling’’ describes the electromechanical coupling dynamic model of the flexible manipulator of an AC servomotor-driven linear positioning platform.
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