Research on Numerical Analysis Method of Modal Analysis of Flexible Joint Manipulator
Aiming at the modal parameters of the six degree of freedom flexible joint manipulator,a numerical analytical modal analysis method of the manipulator with rigid link and flexible joint is established.Firstly,the dynamic model of flexible joint ro-bot is established by Lagrange formula,and then the linearized modal analysis equation considering gravity,external force and control parameters is derived by using Taylor series expansion method.On this basis,the modal parameters of any robot configu-ration can be calculated by state space matrix.In order to verify the effectiveness of this method,the working modal technology based on vector autoregressive model is used to estimate the modal parameters.The results show that the results of the two methods are in good agreement.Based on the given robot configuration,the modal information of the robot can be extracted quickly by this method.
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