Approximate inertial manifold-based order reduction of rigid-flexible coupling manipulator

¹ School of mechanical and electrical engineering, Central South University, Changsha 410083, China
² Physical Science and Technology College, Yichun University, Yichun, Jiangxi, 336000, China

^* Corresponding author: 206715@jxycu.edu.cn

Abstract

An order reduction method for the flexible deformation response analysis of rigid flexible manipulators is proposed based on the approximate inertial manifold theory. This method allows a lower dimensional simplified model to be constructed from a subspace smaller than the entire state space. In this paper, truncated three-order modes are used to construct a first-order system of AIM. Compared with the traditional Galerkin method, the results show that the proposed method can reduce the degree of freedom of the system and improve the computational efficiency without obviously losing the precision of the solution, which is convenient for the subsequent vibration analysis and controller design of the system.