Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 8, issue 2
Articles | Volume 8, issue 2
https://doi.org/10.5194/ms-8-221-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-8-221-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 8, issue 2
Research article
 | 
26 Jul 2017
Research article |  | 26 Jul 2017

Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load

Jinyong Ju, Wei Li, Mengbao Fan, Yuqiao Wang, and Xuefeng Yang

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Latest update: 04 May 2026
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Short summary
During the mode experiments of the FCRM, we find that the mode characteristics of the FCRM change with the different tip mass. As the direct drive source of the FCRM, the output of the motor also have great influences on the dynamic characteristics of the FCRM. Thus, the nonlinear modelling and dynamic stability of a FCRM with base disturbance and terminal load are analyzed in this paper. During the analysis process, the methods of mechanism modeling and numerical calculation are adopted.
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