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2023 | OriginalPaper | Chapter

Nonlinear Dynamic Analysis of Elastic Robotic Arms

Authors : Hongbing Wen, Shanying Jiang

Published in: Recent Advances in Applied Mechanics and Mechanical Engineering

Publisher: Springer Nature Singapore

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Abstract

In this paper, the nonlinear elastic manipulator system is taken as the research object. According to the relevant knowledge of mechanical vibration, the elastic manipulator is simplified to the mode analysis of the robotic arm by the Euler–Bernoulli beam, and the dynamic model of the system is established by using the Lagrange equation, in order to simplify the complexity of the calculation, in order to ignore some tiny amounts of the equation system and some nonlinear terms of high powers, the multi-scale method in the nonlinear vibration approximation analysis method is used to solve the dynamic model of the system. The results show that the approximate solution obtained is perfectly consistent with the analytical solution. And, the amplitude–frequency characteristic curve of the main resonance of the system is obtained, which shows that the peak value of the main resonance of the system is not only related to the amplitude of the excitation force but also related to the damping coefficient of the system.

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next chapter Influence of the Modulus of Elasticity of the Jointed Material and Interlayers in Nodes with an Interlayer with a High TCLE
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Metadata
Title
Nonlinear Dynamic Analysis of Elastic Robotic Arms
Authors
Hongbing Wen
Shanying Jiang
Copyright Year
2023
Publisher
Springer Nature Singapore
Book
Recent Advances in Applied Mechanics and Mechanical Engineering

Print ISBN: 978-981-9923-74-8

Electronic ISBN: 978-981-9923-75-5

Copyright Year: 2023

DOI
https://doi.org/10.1007/978-981-99-2375-5_1