The Combination Of Flexible Arm Modeling And Motion Control

Flexible link manipulators are flexible operated and energy efficient with light quality, and it's application acquires more and more extensive concern. However, flexible link manipulators are a highly nonlinear and strong-coupled dynamic system, which makes it vibrate heavily and results in bad control performance in expected position.In order to restrain the vibration of flexible link manipulators, friction damping of assembled flexible link is used and then the linear quadratic regulator is designed to control the rotation of the assembled flexible link.To study the characteristic of assembled flexible link, finite element modal of it is created firstly. And then the simulation testing about the static and dynamic behavior of assembled flexible link is implemented by using finite element modal. Meanwhile actual testing about the static and dynamic behavior of assembled flexible link is implemented based on the bench run of assembled flexible link. Though the comparison of simulation testing results and actual testing results, it is researched that the finite element modal is accurate. Then the characteristic about strength-distortion and hysteretic of assembled flexible link is studied by the simulation testing results and actual testing results.Equivalent dynamic model about assembled flexible link is created, based on which concentrated parameter equation of assembled flexible link is established. Through least-square method, the coefficient of the concentrated parameter equation is determined, at the same time, shape function of assembled flexible link and friction-consuming function is determined.Considering friction-consuming function, the rotating equation of assembled flexible link is created using Lagrange equation with friction-consuming function. Then the rotating equation is linearly parameterized and turned into status equation. Based on status equation, the linear quadratic regulator about rotating of assembled flexible link was designed. At last, the rotating simulation about assembled flexible link and common flexible link manipulators is respectively implemented with and without regulator. The results show assembled flexible link has good characteristic of vibration suppression when it rotates under the control of the linear quadratic regulator.