›› 2012, Vol. 32 ›› Issue (2): 22-28.doi: 10.3780/j.issn.1000-758X.2012.02.004

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 AbsoluteErrorSelectionCriteriaofUnconstrainedModefor FlexibleManipulatorDynamicsModelDimensionReduction

 QiNaiming1,ZhaoBaoshan1, ZhaoZhigang1, WangLiping2   

  1.  (1SchoolofAstronautics,HarbinInstituteofTechnology,Harbin150001)
     (2InstituteofTianjinAstronauticsElectromechanicalDevice,Tianjin 300300)
  • Received:2012-01-19 Revised:2012-04-25 Online:2012-04-25 Published:2012-04-25

Abstract: Theunconstrainedmodedynamicsdimensionreductionmethodsonlyconsiderthestructuralparameterswithoutanalyzingtheimpactofthecontrolforce.DuetoanycontrolforcecanbeequivalenttothesuperpositionofaninfinitenumberofsinusoidalforcebyFourieranalysismethod,anunconstrainedmodeselectioncriteriaundersinusoidalforcebasedontheabsoluteerrorwaspresented.Theelasticdeformationofflexiblemanipulatorwasmodeledbyusingthefiniteelement(FE)method.ThedynamicsmodelofflexiblemanipulatorwasdeducedbyusingtheLagrangeapproach.Thesolutionofunconstrainedmodewasusedfordimensionreductionofthedynamicsequations.Thedimensionreductionofthedynamicsequationsandtheoriginaldynamicsequationswerecompared.Numericalsimulationsdemonstratethecorrectnessoftheproposedapproach.

Key words: Dynamics dimension reduction, Finite element method, Absolute error, Unconstrained mode, Flexible manipulator