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Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system

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Abstract

The vibration suppression directly affects the dynamic performance and working accuracy of flexible manipulators, which is one of the important issues in the robotics field. However, most of the relevant literature only studies the vibration suppression of planar flexible manipulators, which is difficult to adapt to more general space motion. This paper proposes a strategy for vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system and RBF interpolation method. Firstly, the dynamics model of the system is constructed using the acceleration transfer matrix strategy, which provides support for vibration control. Secondly, the basic trajectories of the manipulator joints satisfying the boundary conditions are constructed and interpolated using an RBF with infinite smoothness. Based on this, an optimization objective based on the system dynamics model is proposed, which is to minimum the residual vibration of the flexible link. Meanwhile, an optimized hybrid particle swarm optimization algorithm is presented to solve the optimal problem of joint trajectories under minimum residual vibration. Finally, the effectiveness of the proposed dynamics model and trajectory optimization method is verified by numerical simulations. The dynamics modeling method proposed in this paper does not need to derive the global model of the system, which greatly improves the computational efficiency under the premise of ensuring accuracy, while the proposed trajectory optimization method based on RBF interpolation can be effective in reducing the system residual vibration on the basis of ensuring the infinite continuous smoothness of the optimized trajectory; meanwhile, the method does not need to measure the vibration with additional sensors, which effectively reduces the economic cost and has high practical value.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

This work was supported by the Comprehensive Research Facility for Fusion Technology Program of China under Contract No. 2018-000052-73-01-001228 and National Natural Science Foundation of China (No.11905147). We also deeply thank to all the members of CFETR design team for their hard work and beneficial discussions.

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Authors and Affiliations

  1. Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China

    Mingming Shi, Wenlong Zhao & Hongtao Pan

  2. University of Science and Technology of China, Hefei, 230026, China

    Mingming Shi

  3. Institute of Launch Dynamics, Nanjing University of Science and Technology, Nanjing, 210094, China

    Bao Rong

  4. School of Engineering, Anhui Agricultural University, Hefei, 230036, China

    Jing Liang

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  1. Mingming Shi
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Correspondence to Mingming Shi.

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Shi, M., Rong, B., Liang, J. et al. Dynamics analysis and vibration suppression of a spatial rigid-flexible link manipulator based on transfer matrix method of multibody system. Nonlinear Dyn 111, 1139–1159 (2023). https://doi.org/10.1007/s11071-022-07921-6

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