Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system

doi:10.1007/s11071-022-07921-6

	Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system
	Shi, Mingming 1,3; Rong, Bao 4; Liang, Jing 2; Zhao, Wenlong 3; Pan, Hongtao 3
刊名	NONLINEAR DYNAMICS
	2022-11-11
关键词	Spatial rigid-flexible manipulator Joint trajectory optimization RBF interpolation Transfer matrix method
ISSN号	0924-090X
DOI	10.1007/s11071-022-07921-6
通讯作者	Shi, Mingming(mmshi@mail.ustc.edu.cn)
英文摘要	The vibration suppression directly affects the dynamic performance and working accuracy of flexible manipulators, which is one of the important issues in the robotics field. However, most of the relevant literature only studies the vibration suppression of planar flexible manipulators, which is difficult to adapt to more general space motion. This paper proposes a strategy for vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system and RBF interpolation method. Firstly, the dynamics model of the system is constructed using the acceleration transfer matrix strategy, which provides support for vibration control. Secondly, the basic trajectories of the manipulator joints satisfying the boundary conditions are constructed and interpolated using an RBF with infinite smoothness. Based on this, an optimization objective based on the system dynamics model is proposed, which is to minimum the residual vibration of the flexible link. Meanwhile, an optimized hybrid particle swarm optimization algorithm is presented to solve the optimal problem of joint trajectories under minimum residual vibration. Finally, the effectiveness of the proposed dynamics model and trajectory optimization method is verified by numerical simulations. The dynamics modeling method proposed in this paper does not need to derive the global model of the system, which greatly improves the computational efficiency under the premise of ensuring accuracy, while the proposed trajectory optimization method based on RBF interpolation can be effective in reducing the system residual vibration on the basis of ensuring the infinite continuous smoothness of the optimized trajectory; meanwhile, the method does not need to measure the vibration with additional sensors, which effectively reduces the economic cost and has high practical value.
资助项目	Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228] ; National Natural Science Foundation of China[11905147]
WOS关键词	PARALLEL MANIPULATOR ; PARTICLE SWARM ; CONTROL DESIGN ; HIGH-SPEED
WOS研究方向	Engineering ; Mechanics
语种	英语
出版者	SPRINGER
WOS记录号	WOS:000881901400003
资助机构	Comprehensive Research Facility for Fusion Technology Program of China ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/130389]
专题	中国科学院合肥物质科学研究院
通讯作者	Shi, Mingming
作者单位	1.Univ Sci & Technol China, Hefei 230026, Peoples R China 2.Anhui Agr Univ, Sch Engn, Hefei 230036, Peoples R China 3.Chinese Acad Sci, Inst Plasma Phys, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 4.Nanjing Univ Sci & Technol, Inst Launch Dynam, Nanjing 210094, Peoples R China
推荐引用方式 GB/T 7714	Shi, Mingming,Rong, Bao,Liang, Jing,et al. Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system[J]. NONLINEAR DYNAMICS,2022.
APA	Shi, Mingming,Rong, Bao,Liang, Jing,Zhao, Wenlong,&Pan, Hongtao.(2022).Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system.NONLINEAR DYNAMICS.
MLA	Shi, Mingming,et al."Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system".NONLINEAR DYNAMICS (2022).