Analysis of nonlinear vibration of a robotic manipulator electromechanical coupling system while plane motion

This paper studies the nonlinear vibration of robotic manipulator with parallelogram hinged mechanism while it motioned in plane. The controllable motor and the hinged mechanism are studied in an integrated manner, and the electromechanical coupling nonlinear dynamic equation of the system is established by finite element method. The relation between the nonlinear vibration of the system and the parameters of the system is obtained by the method of multiple scales. Results show that the ultraharmonic resonances of the system are not only related to the structure parameters of the robotic manipulator, but also to the rotational frequency of rotor and the rotating field frequency of stator of the controllable motor. Finally, a numerical example is presented.