Resonance in a high-speed flexible-arm robot

摘要

In this paper we consider the effects of nonlinearities due to Coriolis and centripetal forces on the motion of a multi-degree-of-freedom high-speed flexible-arm robot. We perform experimental investigations on a robot arm as well as analytical investigations on a mathematical model of the experimental apparatus. The two-variable expansion- perturbation method is used to describe the motions at internal and forced resonances. The perturbation solutions show the existence of a jump phenomenon and saturation when both forced resonance as well as when 2:1 internal resonance occur. This phenomenon is also observed in the experiments, thus proving the accuracy of the perturbation solution.