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首页> 外文期刊>Automatica Sinica, IEEE/CAA Journal of >On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators
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On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators

机译：柔性机器人的频率敏感性和正交性

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摘要

This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub, and mass, moment, and side of tip load. Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed. By using variational method, sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies. Based on variational formulations, a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced. With this method, the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part, as commonly used in their derivation.
机译：本文针对系统参数的变化（如轮毂的旋转惯性，质量，力矩和叶尖负载的侧面），对挠性机械手的振动频率进行了灵敏度分析。讨论了柔性机械手的Euler-Bernoulli和Timoshenko动力学模型。通过使用变分法，可以使用明确的表达式获得灵敏度指标，以测量频率的灵敏度。基于变分公式，提出了一种新的方法来推导柔性机械臂的振动模态形状函数之间的正交关系。使用这种方法，可以很容易地导出正交关系，而不必像通常在进行微分和积分时那样进行繁琐的微分和积分过程。

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