Dynamic Analysis Of Flexible Manipulator Arms By Component Mode Synthesis

The two most important aspects of the modeling of flexible manipulator arms are model accuracy and model order. Ideally, one would like to have a highly accurate system model of very low order. The well-know component mode synthesis (CMS) is a Rayleigh-Ritz-based approximation method born out of the need to analyze linear structural dynamic problems of unusually high order.But the disadvantage of the CMS methods is that they do not directly consider the control system or the location of actuators and sensors when reducing component order. A large number of low-frequency appendage modes do not contribute to control-structure interaction and, consequently, these should be discarded as they unnecessarily complicate the multi-body simulation model. Through the model reduction, the models that are least controllable from the actuators and least observable from the sensors can be candidates for truncation. The result is showed that the above method to build the reduction system is feasible.