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

doi:10.3780/j.issn.1000-758X.2012.02.004

›› 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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 Published:2012-04-25 Online:2012-04-25

Abstract

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

QI Nai-Ming, ZHAO Bao-Shan, ZHAO Zhi-Gang, WANG Li-Ping. AbsoluteErrorSelectionCriteriaofUnconstrainedModefor FlexibleManipulatorDynamicsModelDimensionReduction[J]. , 2012, 32(2): 22-28.

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URL: http://journal26.magtechjournal.com/kjkxjs/EN/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

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