A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 3 Issue 4
Oct.  2016

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Wang Fei-Yue and Gao Yanqing, "On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators," IEEE/CAA J. Autom. Sinica, vol. 3, no. 4, pp. 394-397, Oct. 2016.
Citation: Wang Fei-Yue and Gao Yanqing, "On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators," IEEE/CAA J. Autom. Sinica, vol. 3, no. 4, pp. 394-397, Oct. 2016.

On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators

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  • This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub, and mass, moment, and side of tip load. Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed. By using variational method, sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies. Based on variational formulations, a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced. With this method, the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part, as commonly used in their derivation.

     

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