Research On Dynamics Characteristics And Control Of Flexible-macro Rigid-micro Manipulator System

In this paper,the dynamic modeling, characteristics, error compensation and control offlexible-macro rigid-micro manipulator system has been deeply researched and discussed.Firstly, based on flexible multi-body system dynamics (FMD) method, the finite elementmethod and Lagrange equation are used to establish the dynamic model of flexiblemanipulator. Rigid manipulator can be seen as a special kind of flexible manipulator, and thenthe dynamic model of flexible-macro rigid-micro manipulator is established according to themodeling method of flexible manipulator, in which the rigid manipulator is treated specially.Using Matlab software to program for symbol derivation, symbolic expression of dynamicequation of flexible-macro rigid-micro manipulator is obtained. To different combinationforms of flexible-macro rigid-micro manipulator, such as one flexible-one rigid, twoflexible-one rigid, two flexible-two rigid, a large amount of simulation have been done. Thesimulation results of dynamic simulation software RecurDyn is compared with that of Matlabat the same condition, the results show that the dynamic model of flexible-macro rigid-micromanipulator is correct and effective.Secondly, based on the dynamic modeling method of this paper, the dynamic model oftwo-flexible two-rigid macro-micro manipulator is established and a large amount ofnumerical simulation is carried out by using Matlab. Through changing its structureparameters, physical parameters and motion parameters, the relationships between the error ofendpoint and its various parameters of flexible-macro rigid-micro manipulator are obtained.Use the dynamic equation of flexible-macro rigid-micro manipulator to get the naturalfrequency and then the relationships between it and the various parameters is obtained bychanging the parameters. These conclusions have important reference values for furtherstudying the dynamic characteristics and the structure optimization design of theflexible-macro rigid-micro manipulator system.Finally, the compensability of teminal error of flexible-macro rigid-micro manipulator isanalyzed, and compensable geometric conditions is proposed. A new control method isproposed based on kinematics for the teminal error of flexible-macro rigid-micro manipulatorsystem and the simulations are performed for trajectory tracking of linear type and S type.The results show that terminal error precision of flexible-macro rigid-micro manipulatorsystem is improved enormously with the new method.