Dynamic Modeling and Analysis of Space Manipulator Considering the Flexible of Joint and Link

Abstract

The long length, light weight, low frequency, flexible joint and link of large space manipulators impact dynamic stability and position accuracy seriously. In this paper, dynamical model of space flexible manipulators system is build base on Lagrange method. With three DOF manipulators as the research object, the impact of flexible link, joint stiffness and clearance on the system frequency and end position accuracy of manipulator is simulated and analyzed. The results indicate that the flexible joint lead to low frequency vibration and flexible link lead to high frequency vibration. Low frequency vibration is the dominant impact of end position accuracy, Flexible joint have greater impact on the dynamic characteristics of system than that of flexible link.