Vibration Characteristic Analysis And Vibration Reduction Design Of Flexible Manipulator

As science and technology develop,space manipulator plays an important role in space,especially plays an indispensable role in the construction of a space station,and now the application of space manipulator in China is still at a groping stage,in order to achieve the strategic goal of establishing the space station in 2020,our country must speed up the space manipulator research program.Any object floating in the space environment is in weightlessness,in order to improve maneuverability of the operation,space manipulator always has the characteristics of light weight and long span,and this determines space manipulator is a kind of flexible manipulator.Capturing the target load is the key to the success when flexible space manipulator is in the space operation task.Because of the flexibility characteristics of space manipulator,the space manipulator end is prone to vibrate causing low positioning precision and poor stability.Therefore,deep and systematical research on vibration characteristics of space manipulator,and research on vibrational behavior and damping vibration attenuation of space manipulator during its runtime have a quite important engineering application value.This paper makes a principle of flexible manipulator as a research subject,and researches on the vibration characteristics and damping vibration attenuation of the principle.The main contents are:First of all,analytical solution of natural frequency and vibration mode of the flexible manipulator are deduced.And experimental modal analysis method to flexible manipulator by LMS test system is elaborated.Vibration characteristics of the analytical and experimental are made respectively to the same principle of flexible manipulator.Then,using finite element method of composite structure,the influences of the inherent characteristics and response characteristics of flexible manipulator by changing the width,the thickness or material parameters are compared.Finally,vibration behavior of two flexible manipulator principles with different bending rigidities experiment exploration is carried out.Dynamic parameters of the two principles are identified based on the experiment results,and vibration suppression effect of viscoelastic damping layer to the different phases of the principle running process is analyzed.