Research on the motion characteristics of a flexible joint-flexible link space manipulator

Research on motion characteristics of the space flexible-joint flexible-link manipulator is investigated. The equations N degree freedom (DOF) flexible are established by means Newton-Euler method and finite segment considering both computational efficiency accuracy. genetic algorithm used to identify parameters torsional stiffness damping related link flexibility. derived model involves dynamic factors, such as joint flexibility, friction end lumped mass link. Then critical adopted decide whether consider After that, spatial motions a two performed with different friction. results show that vibration can be reduced increasing friction, effectively suppressed when greater than value. Meanwhile, validity presented verified. It lays foundation for reliability analysis controller design manipulator.