Dynamic Response of the Manipulator Tip to a Random Excitation

Author:

Kujath Marek R.1,Akpan Unyime O.1

Affiliation:

1. Department of Mechanical Engineering, Technical University of Nova Scotia, Halifax, Nova Scotia, Canada

Abstract

The paper describes the tip responses of a flexible articulated manipulator to a stationary random excitation of the base. The expressions for the covariance tensors of the manipulator tip motion are developed in the base and the inertia frame. The singular value decomposition technique is applied for the derivation of expressions for the principal variances. The principal variances are computed and discussed for a wide range of manipulator configurations and damping coefficients.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Reference6 articles.

1. Bogdanoff J. L. , and CitronS. J., 1965, “On the Stabilization of the Inverted Pendulum,” Developments in Mechanics, Vol. 3, Part 2, pp. 3–15.

2. Chang R. J. , and YoungG. E., 1989, “Prediction of Stationary Response of Robot Manipulators Under Stochastic Base and External Excitations-Statistical Linearization Approach,” ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, Vol. 111, pp. 426–432.

3. Golub, G. H., and Van Loan, C. F., 1990, Matrix Computation. John Hopkins, 2nd Edition.

4. Kujath, M. R., and Akpan, U. O., 1994, “Optimization of Dynamic Testing of Space Manipulators,” Proceedings 12th International Modal Analysis Conference, Honolulu, Hawaii, pp. 626–632.

5. Spanos P-T. D. , 1987, “An Approach to Calculating Random Vibration Integrals,” ASME Journal of Applied Mechanics, Vol. 54, pp. 409–413.

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