Static And Dynamic Characteristics Of Laminated Flexible Manipulator

The mechanical system which becomes to light, high speed, large, will inevitably causes the organ more flexible. This make the organ to vibrate more intensifies, and not only affects work quality and life-span of the machinery, moreover increased the difficulty of control the organ movement. This article studies nappe flexible organ, which can suppress vibration, and its wide range movement and the distortion movement mutually influence, intense coupling. Add the hysteretic, the heredity, the memory of the basic-structure relations of combine component, therefore its dynamics model and the vibration abatement research has the certain scholarly research and the project application value.This article take the nappe flexible mechanical arm as an example, has carried on the static state and the dynamic characteristic analysis through the finite element analysis, In the static property research, obtained its curving strength-distortion curve; In the dynamic property research, obtained its time-displacement curve. It had reflected the hysteretic of this nappe flexible mechanical arm and it as well as has good hysteretic damping. And has carried experiment study in the static situation. Its result indicated the finite element simulation and the experimental result quite approaching, we can use the finite element analysis to substitute the experimental study.According to the finite element simulation and the experimental result, to nappe flexible mechanical arm to found dynamics mathematics model, obtains the viscous-damping bilinear hysteretic model of non-symmetry elastic. And use the parameter separation recognition algorithm to recognize parameter. In the same time, has proved the rationality of this kind model and feasibility and the accuracy of the parameter separation recognition algorithm feasibility and the accuracy.