Electromechanical Coupling Dynamic Model and Speed Response Characteristics of the Flexible Robotic Manipulator

The flexible robotic manipulator, which has the advantages of lightweight, flexible operation and low energy consumption, is a typical electromechanical coupling system containing the driving system, transmission system and flexible manipulator. Considering the driving motor, transmission system and flexible manipulator as an integrated object, the electromechanical coupling dynamic model of the flexible robotic manipulator system (FRMS) was constructed based on the overall coupling relationship and electromechanical dynamics analysis approach. To reveal the electromechanical coupling mechanism of the FRMS, the speed response characteristics under electromechanical coupling effects are presented. The results indicate that the electromechanical coupling factors have significant impacts on the dynamic property of the FRMS, which are meaningful for the design and control of flexible robotic manipulators.