Dynamic Effect of Decreased Connecting Stiffness for Flexible Robotic Manipulator Based on Vibration Energy Distribution Chracterisitic

This paper proposes an approach to reveal the dynamic effect of decreased connecting stiffness for the flexible robotic manipulator (FRM)based on vibration energy distribution characteristic. Firstly, the coupled dynamic model of the FRM system is established. Based on the established coupled dynamic model, the steady-state power flow is studied to conduct a comprehensive evaluation for the dynamic characteristics of the FRM with varying connecting stiffness. Base on the results, dynamic effect of the decreased stiffness connecting joints is revealed and it indicates that the connecting stiffness decrease has significant influence on the dynamic characteristic of the FRM and should be accurately controlled.