Rugui Wang

An Evolutionary Analytic Method of Multi-DOF Nonlinear Coupling Dynamic Model for Controllable Close-Chain Linkage Mechanism System

The 2-DOF controllable close-chain linkage mechanism is investigated in this paper. Based on the characteristics of the multi-DOF nonlinear coupling dynamic equation of the system established by the finite element method, an analytic method of multiple-scales Newmark is presented after thinking about the method of perturbation and the method of numerical analysis. Firstly, the first-order approximate solution of the dynamic responses of the system at the time of 𝑡 is calculated by the multiple scales method. Then, taken the first-order approximate solution as the initialization of the generalized coordinate of the system, the stable dynamic response of the system is obtained by the implicit Newmark method. The simulation and experimental results are given in the end. The studies indicate that the method of multiple-scales Newmark is correct and practicable to study the dynamic characteristics of such kind of multi-DOF nonlinear coupling system.

Analysis of nonlinear vibration of a robotic manipulator electromechanical coupling system while plane motion

This paper studies the nonlinear vibration of robotic manipulator with parallelogram hinged mechanism while it motioned in plane. The controllable motor and the hinged mechanism are studied in an integrated manner, and the electromechanical coupling nonlinear dynamic equation of the system is established by finite element method. The relation between the nonlinear vibration of the system and the parameters of the system is obtained by the method of multiple scales. Results show that the ultraharmonic resonances of the system are not only related to the structure parameters of the robotic manipulator, but also to the rotational frequency of rotor and the rotating field frequency of stator of the controllable motor. Finally, a numerical example is presented.