Nonlinear Vibration Analysis And Control Of Manipulator System With Time Delay

In this paper,the four-dimensional system model is established with the flexible joint arm system with coupling time delay,the stability of the two-dimensional subsystem after degradation is studied by introducing the fast and slow factor,and the influence of the time delay factor on the nonlinear vibration of the system is analyzed.First of all,the dynamic equation model of the two-dimensional system is analyzed by multi-scale method,the normative equation of the nonlinear vibration system of the time delay manipulator is divided into Hopf,combined with the all-in-one plane Hopf fork theorem,to obtain the conditions of the occurrence of the system Hopf fork,and the result of numerical verification theory analysis is obtained by numerical simulation,so as to prove that the system is derived by multi-scale method to the correctness of the standard-type equation and condition severity of the time-differential timing of the system.Then,based on two-dimensional system analysis,the input of the four-dimensional system is controlled and analyzed under the condition that the time delay parameters of the system are fixed,and the mechanism and control strategy of the complex vibration forms such as four-dimensional system,such as periodic vibration and general periodic vibration are studied by linear equation or square polynomial equation input,and verified by a series of numerical calculations.Finally,the nonlinear vibration analysis and control of the manipulator system with time delay elastic joints and the numerical simulation verification are looked forward to.