Dynamic Responses of a Manipulator-Motor Coupled System during Startup and Locking

• Main Authors: Bo-Ren Hsueh, 薛博仁
• Other Authors: Jung-Hung Sun
• Format: Others
• Language: en_US
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/01194805718010584501

碩士 === 國立高雄第一科技大學 === 機械與自動化工程所 === 90 === This study investigates the dynamic responses of a two-link rigid-flexible manipulator driven by a separately excited d-c motor. The governing equations, formulated by Hamilton’s principle, include effects of mass, inertia and flexible properties of a flexible beam, and the motor electric input and rotational damping. It is found that the governing equations are nonlinear coupling between the rigid-body motion and flexible vibration. The dimensionless form is employed to study the parameter behavior. The partial differential equations are reduced to the ordinary differential equations by Galerkin’s method. Finally, the numerical results are provided to show the motion-induced vibrations, when the system undergoes startup and locking.