Nonlinear Vibration Of Elastic Joint Manipulator Based On Time Delay System Security Analysis

The modern industrial robot arm is the most widely used automatic mechanical device in the field of robotics,and is used in industrial production,self-service,and space exploration.This inevitably makes the mechanical arm work safety and reliability analysis particularly important.The mechanical vibration generated by the mechanical arm at work is an important factor in production safety and human life safety.If the amount of mechanical vibration exceeds the allowable range,the mechanical equipment will generate a large dynamic load,which may cause serious accidents in the early failure of the mechanical components.Because of the uncertainties in the system,the mechanical arm is delayed due to joint flexibility when working intermittently.This situation not only greatly reduces the efficiency of the system,but also makes the high-precision position of the end of the robot arm lose its target significance,and even affects the working life,causing serious industrial accidents.In this paper,the equivalent model of the elastic joint manipulator is taken as the research object,and then the influence of time-delay factors on the system vibration is analyzed.Firstly,the perturbation analysis of the dynamic equation model established by the system is carried out.The perturbation analysis multi-scale method is used to obtain the approximate analytical solution of the time-delay vibration system.The numerical verification is used to verify the agreement between the numerical solution and the analytical solution to prove the multi-scale method.Effectiveness and correctness.The stability of the system is analyzed by using the Lyapunov stability theory criterion.Then the influence of the parameters of the system on the periodic vibration of the system is analyzed.It is concluded that the time-delay parameter can cause the system to produce stable periodic vibrations in a certain interval.Therefore,the safety performance and service life of the system are guaranteed,and the time lag factor is crucial for the safety of the elastic joint arm.Finally,the stability analysis and modeling and numerical verification of the mechanical arm system with elastic joints are prospected.