多尺度法在时滞弹性关节机械臂非线性振动问题中的应用

针对非线性弹性关节机械臂，研究传动过程中的时滞效应对机械臂系统周期振动的影响．本文改进了具有弹性关节的非线性机械臂动力学模型，引入时滞参数，应用多尺度法，得到系统的近似解析解，考察了时滞对机械臂系统周期运动的影响规律．数值软件计算结果表明解析解与数值解具有较好的吻合度．从而验证了本文多尺度方法的有效性和正确性．

Application of Multi-Scale Method in Nonlinear Vibration Problem of Time Delay Flexible Joint Manipulator

For the nonlinear elastic joint manipulator, the effect of time-delay in the transmission process on the periodic vibration of the manipulator system is studied. In this paper, the dynamic model of a nonlinear manipulator with elastic joints is improved. Specifically, time-delay parameters are introduced, multi-scale method is applied, the approximate analytical solution of the system is obtained and the influence of time delay on the periodic motion of the manipulator system is investigated. Numerical software results show that the analytical solution is in good agreement with the numerical solution. This verifies the effectiveness and correctness of the multiscale methods proposed in this paper.