Structural mechanics analysis of bolt joint of rigid flexible coupling manipulator

Zhang, Wenhui; Wen, Zhi; Ye, Yangfan; Zhou, Shuhua

doi:10.21595/jme.2022.22688

Cited by 4 publications

(4 citation statements)

References 15 publications

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“…on the vibration characteristics of bolt connections under different working conditions. The experimental results indicated that the structural optimization of a rigid flexible coupling manipulator had important engineering value [13]. X Jing et al proposed a new type of rigid flexible coupled continuous robotic arm structure, which was a rigid flexible coupled robotic arm.…”

Section: Related Workmentioning

confidence: 99%

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Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Xiao,

Yang,

Gao

2024

IEEE Access

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As robotics and materials science develop, origami mechanical structures have gradually attracted attention in the research field due to their lightweight, foldable, and multifunctional characteristics. As one of them, the water elastic origami mechanism, with its unique structure and flexibility, provides a new perspective and possibility for the design of pneumatic manipulators. This study proposes a research on the design of a pneumatic manipulator for a water elastic paper folding mechanism by the DH parameter method and the symmetric folding assumption, in response to the issue of insensitivity of the manipulator. Firstly, the dynamic factors of the hydroelastic mechanical mechanism, including its degree of freedom and reaction force, are explored. Secondly, the DH parameter method is used to design and optimize the configuration of the paper folding manipulator, making its operation more accurate and capable of handling more types of tasks. Finally, the symmetrical folding assumption is used to guide the design of the water elastic origami mechanism, in order to create a more stable and reliable pneumatic manipulator. Results showed that the recognition accuracy of cola bottles, dental floss boxes, cubes, cylinders, sponge cubes, and glasses boxes reached 100%. From this, it can be seen that these data clearly demonstrate that the object recognition system can maintain high recognition accuracy for various different objects and shapes, proving the effectiveness and reliability of the system.

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Section: Related Workmentioning

confidence: 99%

“…According to equation (13), the transformation matrix between each member can be obtained, and the displacement and workspace of any joint on the mechanism about the frame can be calculated. After differentiation, the velocity and acceleration can be obtained.…”

Section: B Pneumatic Manipulator Configuration Design For Origami Mec...mentioning

confidence: 99%

Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Xiao,

Yang,

Gao

2024

IEEE Access

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“…This will result in a continuous accumulation of errors, which will affect the final control accuracy. Based on Lagrange method in theoretical mechanics, the dynamic equation of industrial mechanical manipulator [25][26][27][28] can be derived:…”

Section: Fig 2 Flexible Joint Modelmentioning

confidence: 99%

Adaptive neural network vibration suppression control of flexible joints space manipulator based on H∞ theory

You¹,

Zhang²,

Shen³

et al. 2023

J. vibroeng.

Self Cite

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Considering the control problems caused by uncertainties such as inaccurate modeling, external disturbance and joint flexibility, a neural network control method based on H∞ is proposed. By establishing the dynamic model of the free-floating space robot with flexible joints, according to its dynamic characteristics, it is split into a slow subsystem model representing the rigid characteristics and a fast subsystem model representing the flexible characteristics. Based on the H∞ robust control theory, a robust controller based on neural network is designed to realize the decoupling control of the rigid dynamic model, The designed weight adaptive learning rate can ensure the online and real-time adjustment of parameters. Based on Lyapunov theory, it is proved that the designed controller can ensure that the L2 gain of the system is less than the given index. A feedback controller based on velocity differential is designed to compensate the angle error caused by joint flexibility. The experimental simulation results verify that the proposed control method is effective and has good engineering application value.

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“…However, at present, most studies consider the flexible manipulator alone, do not specifically consider the coupling relationship between the driving system and the actuator, and assume that the motion of the moving base connecting the flexible manipulator is uniform and constant. Therefore, in some fields with high precision requirements, the motion fluctuation generated by the system will produce some errors in the vibration characteristic analysis and vibration control of the flexible manipulator [26,27]. Based on the above research, considering the important influence of complex electromechanical coupling effect on the dynamic characteristics and stability of flexible manipulator, the electromechanical coupling dynamics and vibration response characteristics of flexible robot manipulator driven by AC servo motor are studied.…”

Section: Introductionmentioning

confidence: 99%

Dynamic and vibration characteristics of flexible robot manipulator under complex electromechanical coupling

Zhang¹,

Wen²,

Ye³

et al. 2022

J. meas. eng.

Self Cite

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Aiming at the complex electromechanical coupling effect at the joints of RP (rotating parallel) flexible robot, the electromechanical coupling dynamics and vibration response characteristics driven by AC servo motor, as well as the dynamic starting characteristics of the motor are studied. The physical model including electromagnetic and mechanical system coupling is established, and the dynamic model of the whole system is derived based on the overall electromechanical coupling effect and Lagrange Maxwell equation. With the help of Matlab/Simulink, a virtual simulation platform is built to analyze the output speed characteristics of the motor drive end and the motion of the moving base. Finally, through the joint simulation of Matlab/Simulink dynamic simulation model and Adams/controls virtual prototype model, the vibration characteristics of flexible manipulator under electromechanical coupling are obtained. The simulation results show that the electromechanical coupling effect of the motor drive end has a significant impact on the dynamic characteristics of the flexible manipulator. The conclusions obtained are of great value for improving the chiral energy of flexible machinery.

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Structural mechanics analysis of bolt joint of rigid flexible coupling manipulator

Cited by 4 publications

References 15 publications

Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Adaptive neural network vibration suppression control of flexible joints space manipulator based on H∞ theory

Dynamic and vibration characteristics of flexible robot manipulator under complex electromechanical coupling

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