Multibody System Dynamics

, Volume 43, Issue 4, pp 321–347 | Cite as

Dynamic modeling and vibration characteristics analysis of flexible-link and flexible-joint space manipulator

  • Deshan Meng
  • Yu She
  • Wenfu Xu
  • Weining Lu
  • Bin Liang


With the development of space technology, lighter and larger space manipulators will be born, of which flexible characteristics are more obvious. The manipulator vibration caused by the flexibility not only reduces the efficiency of the manipulator but also affects the accuracy of the operation. The flexibility of space manipulator mainly comes from structural flexibility of links and transmission flexibility of harmonic gear reducer in joints. The vibrations generated by these two kinds of flexibility are coupled and transformed mutually, making the dynamics characteristics of space manipulator system complicated. Therefore it is difficult to assess respective effects of these flexibilities on vibrations of the manipulator tip. And the characteristics of integrated vibration of manipulator tip with different link and joint stiffnesses are not very clear. In this paper, the dynamic equations of multi-link multi-DOF flexible manipulator are established. Then, vibration responses of the tip under different elastic modulus, damping and joint stiffness were studied, and vibration characteristics of the tip with both link and joint were also analyzed. Moreover, the effects of motion planning on the vibration of the tip were analyzed. Finally, the vibration characteristics of the manipulator with flexible joints and links are verified by a two-degree-of-freedom manipulator experimental system. Dynamics analysis results presented some useful rules for the path planning and control to suppress the vibration of the flexible space manipulator.


Flexible space manipulator Dynamic modeling Vibration characteristics Experiment system 



This work was supported by the National Natural Science Foundation of China (Grant No. 61573116, U1613227) and the Basic Research Program of Shenzhen (JCYJ 20160427183553203, JCYJ 2016030110092134 and CKFW 2016033016372515).

Conflict of interest and ethical standard statement

MENG, SHE, XU, LU and LIANG declare that they have no proprietary, financial, professional or other personal interest of any nature or kind in any product, service and/or company that could be construed as influencing the position presented in, or the review of, the manuscript entitled “Dynamic modeling and vibration characteristics analysis of flexible-link and flexible-joint space manipulator”.

The work described has not been submitted elsewhere for publication, in whole or in part, and all the authors listed have approved the manuscript that is enclosed. We have read and have abided by the statement of ethical standards for manuscripts submitted to Multibody System Dynamics.


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Copyright information

© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Shenzhen Key Lab of Space Robotic Technology and Telescience, Shenzhen Graduate SchoolTsinghua UniversityShenzhenChina
  2. 2.Department of Mechanical and Aerospace EngineeringThe Ohio State UniversityColumbusUSA
  3. 3.Shenzhen Graduate SchoolHarbin Institute of TechnologyShenzhenChina

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