Frequency Characteristics And Motion Error Analysis On Flexible-macro And Rigid-micro Manipulator

Flexible-macro and rigid-micro manipulator is different from common manipulators, it is a special kind of manipulators which is composed with two different links. With the development of industry and the progress of science, there are more and more applications of flexible manipulators in industry production, space technology and large drilling platform. Flexible manipulators has become an important research direction in the robot area. With the requirement on lightweight, high speed, high accuracy increasing, the flexibility of the manipulator, elastic deformation and end error augment at the same time. That means the elastic deformation of the manipulator must be considered. Therefore, flexible-macro and rigid-micro manipulator emerge as the times require.The manipulator model is an important part of the research of the manipulator, and it is the basic work of the whole structure design and control analysis. The deformation of the flexible manipulator is described by the discrete element freedom based on dynamic elastic dynamic analysis method in the paper in order to study the kinematics modeling of the flexible manipulator more accurately which is favorable for simulation and analysis later. System natural frequency is a critical index for the evaluation of system dynamics characteristics, which indicates vibration characteristics and system stiffness overall. System dynamic characteristics can be improved by analyzing component parameters. Structure parameters and physical parameters not only influence system frequency characteristics but also affect the elastic deformation of the macro-micro manipulator. In addition, different joint angle drive functions have close connection with system motion error.This thesis researches on the 2-flexible and 2-rigid manipulator. The flexible-macro manipulator performs large space motions and the rigid-micro one execute accurate motions in small space. The elastic deformation is unavoidable in the motion of the macro manipulator which is adverse to end positioning and track accuracy. Therefore, this thesis researches on mathematical modeling, frequency characteristics and end error of the flexible-macro and rigid-micro manipulator in order to improve the motion accuracy of the macro-micro manipulator.