Mode Characteristics for the Controllable Flexible Manipulator in Weightlessness

In weightlessness,the dynamics analysis for the controller positioning constrained flexible manipulator system is accomplished with the effect of controller dynamic feedback being taken into account,and its mode characteristics at the relatively balancing position are investigated.Aimed at a controllable manipulator with flexible joint and flexible link,the feedback constraint characteristics under the action of controller are analyzed.The position and velocity gain of controller are introduced into the force boundary conditions;then,the modal characteristic equation of coupled controller parameters is obtained,and the results verify that both characteristic frequency and modal shape function belong to the complex field due to the existence of feedback constraints.The numerical simulation results show the relation between the modal characteristics of the controllable flexible manipulator and the gains of controller,which is completely different from the classical vibration theory.A simulant weightless platform for the controllable flexible manipulator is designed and the experimental modal results prove the validity of theoretical analysis.