Analysis of vibration characteristics of rotating parallel flexible manipulator considering joint elastic constraints

The bolt joint is the key component connecting rigid moving base body and flexible manipulator. dynamic characteristics of manipulator under elastic constraint are analyzed, action mechanism on frequency vibration mode revealed. Considering effects line torsion constraint, model established. Based principle virtual work, boundary constraints end free established, analytical equation expression function derived. first three frequencies analyzed numerically. sensitivity method used to analyze effect linear torsional frequency, region established characterize functional relationship between binding stiffness natural frequency. It found that constraints, influence mainly concentrated in low-order modal while has a great each order manipulator; With decrease stiffness, its shapes gradually increases, especially high-order shapes. research results prove internal characteristics, which provide theoretical basis for improving