Robotic arm is widely used in industrial and space exploration.Dynamic analysis of a flexible robotic arm carrying a moving end effector was investigated.The system was modeled as a translating and rotating flexible cantilever beam with a moving mass.For the convenience purpose, two coordinate systems were introduced: a local coordinate system that rotates with the cantilever beam, and a fixed global coordinate system.The physical quantities of the structure in the local coordinate system were transformed into the global coordinate system, and the total kinetic energy and potential energy of the structure were given.Then the equations of the structure were derived by the Lagrange's equation with the assumed mode method.When the robotic arm rotates at a uniform angular velocity the system dynamic equation is linear, while it rotates at a variable angular velocity the system dynamic equation is nonlinear.Finally, the dynamic responses of the robotic arm and the moving end effector under different motion states were analyzed by numerical examples.Moreover, the influences of frictional force on vibration characteristics of the robotic arm were also discussed.The obtained conclusions provide theoretical basis for the design of robots and their equipments.
Key words
robotic arm /
moving end effector /
axially translating /
rotating /
dynamic analysis
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