Combination Of Flexible Manipulator Vibra Performance Studies

We define the arm with large aspect ratio as flexible arm. Flexible arm has a wide range of application, but the deformation and vibration of flexible arm increase the difficulty of motion control. The flexible arm can be made of assembled structure, using slip,friction and extrusion to restrain vibration.This paper designed three different kinds of assembled flexible arm with different kinds of cross-section. Established vibration testing system of different kinds of assembled flexible arm, testing vibration displacement, velocity and acceleration.Researched static properties of different kinds of assembled flexible arm by finite element analysis and experiment, the results show that finite element analysis can be used to replace experiment to research static properties of assembled flexible arm. Do bending experiment of three different kinds of assembled flexible arm, studying the force-deformation curve in the process of loading and unloading, using energy dissipation rate to measure the static properties. Researched static properties under different clamping force,friction coefficient and thickness of laminated arm.Assembled flexible arms has a good vibration restraining performance, by comparing different vibration responses of assembled flexible arms and flexible arm. The results show that finite element analysis can be used to research dynamic properties of assembled flexible arm. Energy dissipation rate,vibration attenuation rate and damping coefficient can be used to measure the vibration restraining performance of assembled flexible arm. Researched dynamic properties under different clamping force.friction coefficient.It is proved that assembled flexible arm has a good torsional vibration restraining performance by the torsional vibration test of the assembled flexible arm with bellows laminated. pointed out the connection and difference of the three different kinds of assembled flexible arm with different cross-section.