Nonlinear Dynamic Analysis of Planar Flexible Underactuated Manipulators

The influence of passive joint on the dynamics of planar flexible underactuated manipulators is studied. A vibration reduction method based on the internal resonance phenomenon of multi-degree nonlinear dynamic system is proposed. The dynamic simulation results reveal that the harmonic input for the actuated joint will induce the passive joint deviating from its equilibrium position, the excursion speed and direction depend on t he amplitude of the input. A passive joint position control scheme making use of the vibration of the flexible structure is suggested, and the numerical simulation results of a model of planar two- link flexible underactuated manipulator is shown.