Motion-induced oscillations of the flexible single link and its payload at the tip have negative impact on the anticipated performance of the flexible manipulators and thus should be suppressed to achieve tip positioning accuracy and high-speed operation. Because of the structural flexibility, the dynamics of the flexible manipulator can be described by coupled Duffing oscillators when considering the inherent structural nonlinearity of the flexible link into the dynamic modeling. However, little research has been focused on addressing the dynamic coupling issue in the nonlinear modeling of flexible-link manipulators using coupled Duffing oscillators. This article presents coupled Duffing oscillators for the nonlinear modeling of flexible single-link manipulators and then proposes a control method for suppressing the nonlinear vibrations of the coupled Duffing oscillators. Simulated and experimental results obtained from a flexible single-link manipulator test bench are in good agreement with the proposed nonlinear modeling and also demonstrate the effectiveness of the proposed control techniques for vibration suppression of the flexible manipulator.

柔性单连杆及其尖端的有效载荷的运动引起的振荡对柔性机械手的预期性能具有负面影响，因此应加以抑制，以实现尖端定位精度和高速操作。由于结构的灵活性，当考虑到动态建模中的柔性链接的固有结构非线性时，可以通过耦合的Duffing振荡器来描述柔性操纵器的动力学。但是，很少有研究集中在解决使用耦合Duffing振荡器的柔性连杆机械臂的非线性建模中的动态耦合问题。本文介绍了用于柔性单链机械手非线性建模的耦合Duffing振荡器，然后提出了一种用于抑制耦合Duffing振荡器的非线性振动的控制方法。从挠性单连杆机械手测试台获得的仿真和实验结果与所提出的非线性建模非常吻合，并且还证明了所提出的控制技术对挠性机械手的振动抑制的有效性。