The coupling effect of the flexible joint and the flexible link on the dynamic singularity of the flexible manipulator is addressed. Firstly,the dynamic equations of a flexible manipulator with a flexible joint and a flexible link are derived. Secondly,the relationship and property between the flexible joint and the flexible link are analyzed. It shows that the flexible joint's amplitude will increase abruptly,thereby the dynamic singularity occurs if the frequency of a flexible joint is near or equal to some natural frequency of a flexible link. Finally,some numerical simulations which will verify the correctness of the theoretical analysis,are carried out. The results are fundamental for the design of a flexible manipulator and for the avoidance of the dynamic singularity.
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