A Robotic Manipulator with Parallelogram Hinged Electromechanical System
In this paper, the nonlinear vibration of the of robotic manipulator with parallelogram hinged mechanism is studied. The relation between the nonlinear vibration of the system and the parameters of the system is obtained. The studies show that the nonlinear resonance of the system are not only related to the structure parameters of the robotic manipulator, but also to the rotational frequency of rotor and the rotating field frequency of stator of the controllable motor, and that under certain conditions, there exist internal resonance, superharmonic resonance, 1/2-order sub-harmonic resonance, 1/3-order sub-harmonic resonance, combination resonance, and multiple resonance.
robotic manipulator servomotor resonance
Zhao Lingya Zhou Zhihai
Langfang Polytechnic Institute
国际会议
北京
英文
75-78
2010-09-18（万方平台首次上网日期，不代表论文的发表时间）