A METHOD FOR INCREASING NATURAL FREQUENCIES OF MOVING FLEXIBLE MANIPULATORS

This paper presents a method to increase the natural frequencies of moving flexible manipulators.Firstly,the factors which influence natural frequencies of a flexible manipulator are analyzed and a conclusion is drawn that natrual frequencies of a flexible manipulator can be increased through adjusting the kinetic factors properly while its structural factors remain unchanged.Then,the relationship between the initial joint configuration and the kinetic factors of a flexible manipulator is studied,and a method for increasing natural frequencies of a moving flexible manipulator is proposed.This method can increase natural frequencies of a moving flexible manipulator by planning its initial joint configuration to adjust the kinetic factors.Furthermore,the corresponding algorithm is suggested.Finally,by carrying out some simulations,this method is demonstrated to be feasible.