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Aiming at the unbalancing problem of the neutral equilibrium characteristic for balance hoist in the loading process, the purpose of this paper is to establish a dynamic equation for multi-body using the Lagrange method. It is not difficult to find that the deformation of the boom system has a great influence on the stability of the whole system, through the simulation analysis of the multi-rigid-body system model.

Aiming at the unbalancing problem of the neutral equilibrium characteristic for balance hoist in the loading process, the dynamic equation for multi-body is established by Lagrange method. It is not difficult to find that the deformation of the boom system has a great influence on the stability of the whole system, through the simulation analysis of the multi-rigid-body system model.

Result shows that different weights have a great influence on the force deformation and vibration of the boom system of balance hoist. With the increase in lifting weight, the force and deformation of the boom system increase; lead to balance hoist unique with characteristics of indifferent equilibrium, proportional amplification, labor-saving operation will be lost, easy to cause the imbalance of balance hoist. Therefore, the appropriate increase in the basic length of the compression bar, reduction in the basic length of the tension rod and the increase stiffness of the boom system can improve the stability of balance hoist, which provides a reference for the optimization and manufacture of the balance hoist structure.

The simulation model was established by analyzing the working principle and the load condition of the balance hoist, and the simulation and dynamic characteristics of three typical working conditions are analyzed by using ADAMS; result shows that different weights have a great influence on the force deformation and vibration of the boom system of balance hoist. With the increase in lifting weight, the force and deformation of a boom system increase, lead to balance hoist unique with characteristics of indifferent equilibrium, proportional amplification, labor-saving operation will be lost, easy to cause the imbalance of balance hoist.

This paper aims to propose a novel model and calibration method to improve the absolute positioning accuracy of a robotic drilling system with secondary encoders and additional axis.

The enhanced rigid-flexible coupling model is developed by considering both kinematic parameters and link flexibility. The kinematic errors of the robot and the additional axis are considered with a model containing 27 parameters. The elastic deformation errors of the robot under self-weight of links and end-effector are estimated with a flexible link model. For calibration, an effective comprehensive calibration method is developed by further considering the coordinate systems parameters of the drilling system and using a two-step process constrained Levenberg–Marquardt identification method.

Experiments are performed on the robotic drilling system that contains a KUKA KR500 R2830 industrial robot and an additional lifting axis with a laser tracker. The results show that the maximum error and mean error are reduced to 0.311 and 0.136 mm, respectively, which verify the effectiveness of the model and the calibration method.

A novel enhanced rigid-flexible coupling model and a practical comprehensive calibration method are proposed and verified. The experiments results indicate that the absolute positioning accuracy of the system in a large workspace is greatly improved, which is conducive to the application of industrial robots in the field of aerospace assembly.

In this paper, a first‐order approximation coupling (FOAC) model is investigated to analyze the dynamics of the hub‐beam system, which is based on the Hamilton theory and the finite element discretization method. The FOAC model for the hub‐beam system considers the second‐order coupling quantity of the axial displacement caused by the transverse displacement of the beam. The dynamic characteristics of the system are studied through numerical simulations under twos cases: the rotary inertia of the hub is much larger than, and is close to, that of the flexible beam. Simulation and comparison studies using both the traditional zeroth‐order approximation coupling (ZOAC) model and the FOAC model shows that when large motion of the system is unknown, possible failure exists by using the ZOAC model, whereas the FOAC model is valid. When the rotary inertia of the hub is much larger than that of the beam, the result using the ZOAC model is similar to that using the FOAC model. But when the rotary inertia of the hub is close to that of the beam, the ZOAC model may lead to a large error, while the FOAC model can still accurately describe the dynamic hub‐beam system.

The purpose of this paper is to analyze the effect of the space thermal effect on satellite antenna.

In this paper, according to the geometric characteristics of parabolic reflector, the transient temperature field of an element along its thickness direction is built for shell structures using finite element discretization and the quadratic function interpolation, and heat conduction equations are derived based on the theory of the thermo-elastic dynamics. The modeling theory of rigid–flexible coupling system considering thermal effect is extended to the satellite antenna system. Then, the coupling dynamic equations are established including coupling stiffness matrix and thermal loaded undergoing a large overall motion. Finally, an adaptive controller is proposed and the adaptive update laws are designed under the parameter uncertainty.

The results of dynamic characteristic analysis show that the dynamic thermal loaded coupled with structure deformation induce the unstable vibration and coupled flutter. Further, the coupling effect degrades the antenna pointing accuracy seriously and leads to disturbances on satellite base. The results of the simulation show that the adaptive controller can ensure that antenna pointing closes to the expected trajectory progressively, and it demonstrates that the proposed control scheme is feasible and effective.

The paper considers only the effect of space thermal effect to satellite antenna. Further research could be done on the flexible multibody system by considering joint clearance in the future research.

The conclusions of this paper would be an academic significance and engineering value for the analysis and control of satellite antenna pointing.

The purpose of this paper is to establish a rigid–flexible coupling model of wind turbine disc brake to simulate the actual working condition of the wind turbine brake and to study the dynamic characteristics of the compensation mechanism under different friction coefficients and braking force. It provides reference for the structure design and optimization of the compensation mechanism (compensation brake wear) in the wind turbine brake.

Based on multi-body contact dynamics theory, the rigid‒flexible coupling dynamic model of wind turbine brakes with compensation mechanism is established, in which the contact process of the components in the compensation mechanism and the phenomenon of rotation and return are described dynamically, and the rotation angle of the compensation nut and the axial displacement response of the compensation screw are calculated under different parameters.

The analysis results show that the braking reliability of the brake compensation mechanism can be effectively improved by increasing the friction coefficient of threads or increasing the friction of push rod contact surface; increasing the braking force can also improve the reliability of brake compensation mechanism, but when the braking force comes over a critical value, the effect of braking force on the reliability of the brake is very small. The braking test verifies the effectiveness of the simulation results.

Analyzing the influence of compensation mechanism on braking reliability in the braking process is of great practical significance for improving the braking efficiency and process safety of wind turbine brake.

The purpose of this paper is to achieve the optimal system design of a four-wheel mobile robot on transmission line maintenance, as the authors know transmission line mobile robot is a kind of special robot which runs on high-voltage cable to replace or assist manual power maintenance operation. In the process of live working, the manipulator, working end effector and the working environment are located in the narrow space and with heterogeneous shapes, the robot collision-free obstacle avoidance movement is the premise to complete the operation task. In the simultaneous operation, the mechanical properties between the manipulator effector and the operation object are the key to improve the operation reliability. These put forward higher requirements for the mechanical configuration and dynamic characteristics of the robot, and this is the purpose of the manuscript.

Based on the above, aiming at the task of tightening the tension clamp for the four-split transmission lines, the paper proposed a four-wheel mobile robot mechanism configuration and its terminal tool which can adapt to the walking and operation on multi-split transmission lines. In the study, the dynamic models of the rigid robot and flexible transmission line are established, respectively, and the dynamic model of rigid-flexible coupling system is established on this basis, the working space and dynamic characteristics of the robot have been simulated in ADAMS and MATLAB.

The research results show that the mechanical configuration of this robot can complete the tightening operation of the four-split tension clamp bolts and the motion of robot each joint meets the requirements of driving torque in the operation process, which avoids the operation failure of the robot system caused by the insufficient or excessive driving force of the robot joint torque.

Finally, the engineering practicability of the mechanical configuration and dynamic model proposed in the paper has been verified by the physical prototype. The originality value of the research is that it has double important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of transmission line mobile robots.

The purpose of this paper is to design a component synthesis method to suppress the vibration of the flexible spacecraft, which has the constant amplitude force/moment actuator.

The authors proposed a method to construct constant amplitude of time delay and composite coefficient sequences based on the principles of the component synthesis vibration suppression (CSVS). The associated design strategy of the CSVS torque control is also developed. The dynamic model consisting of a single axis rotating rigid central body and a fixed flexibility panel is used to validate the proposed method. Constraint modal and free modal method are both tested to analyse the natural frequencies of the panel and dynamic properties of rigid–flexible decoupling system, under the conditions of known and unknown frequencies. The feasibility of constructing CSVS control force based on the constraint modal frequency is also analysed.

The proposed method can suppress multistage vibration and has arbitrary order robustness for each order frequencies simultaneously. Simulation results show that only the duration time of the actuator has to be set for the proposed method, reasonable vibration suppression effect can be achieved.

The method can be used in spacecraft, especially flexible spacecraft to suppress the vibration; the approach is convenient for engineering application and can be easily designed.

The authors proposed a method to construct constant amplitude of time delay and composite coefficient sequences based on the principles of the CSVS.

The paper aims to reduce the low-frequency resonance and residual vibration of the robot during the operation, improve the working accuracy and efficiency. A reduced weight and large load-to-weight ratio can improve the practical application of a collaborative robot. However, flexibility caused by the reduced weight and large load-to-weight ratio leads to low-frequency resonance and residual vibration during the operation of the robot, which reduces the working accuracy and efficiency. The vibrations of the collaborative robot are suppressed using a modified trajectory-planning method.

A rigid-flexible coupling dynamics model of the collaborative robot is established using the finite element and Lagrange methods, and the vibration equation of the robot is derived. Trajectory planning is performed with the excitation force as the optimization objective, and the trajectory planning method is modified to reduce the vibration of the collaborative robot and ensure the precision of the robot terminal.

The vibration amplitude is reduced by 80%. The maximum torque amplitude of the joint before the vibration suppression reaches 50 N·m. After vibration suppression, the maximum torque amplitude of the joint is 10 N·m, and the resonance phenomenon is eliminated during the operation process. Consequently, the effectiveness of the modified trajectory planning method is verified, where the vibration and residual vibration in the movement of the collaborative robot are significantly reduced, and the positioning accuracy and working efficiency of the robot are improved.

This method can greatly reduce the vibration and residual vibration of the collaborative robot, improve the positioning accuracy and work efficiency and promote the rapid application and development of collaborative robots in the industrial and service fields.

This study aims to investigate the design and optimization of landing gear buffers to improve the landing-phase comfort of civil aircraft.

The vibration comfort during the landing and taxiing phases is calculated and evaluated based on the flight-testing data for a type of civil aircraft. The calculation and evaluation are under the guidance of the vibration comfort standard of GB/T13441.1-2007 and related files. The authors establish here a rigid-flexible coupled multibody dynamics finite element model of one full-size aircraft. Furthermore, the authors also implement a dynamic simulation for the landing and taxiing processes. Also, an analysis of how the main parameters of the buffers affect the vibration comfort is presented. Finally, the optimization of the single-chamber and double-chamber buffers in the landing gear is performed considering vibration comfort.

The double-chamber buffer with optimized parameters in landing gear can improve the vibration comfort of the aircraft during the landing and taxiing phases. Moreover, the comfort index can be increased by 25.6% more than that of a single-chamber type.

To the best of the authors’ knowledge, this study first investigates the evaluation methods and evaluation indexes on the aircraft vibration comfort, then further conducts the optimization of the parameters of landing gear buffer with different structures, so as to improve the comfort of aircraft passengers during landing process. Most of the current studies on aircraft landing gear have focused on the strength and safety of the landing gear, with very limited research on cabin vibration comfort during landing and subsequent taxiing because of the coupling of runway surface unevenness and airframe vibration.

Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators.

The flexible dynamics model of the links is first established by applying the Euler–Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The elastic energy resulting from spiral motion and link deformations are computed and analyzed. Motion errors of the 3-link torque-prismatic-torque parallel manipulator are then evaluated based on its inverse kinematics. The validation experiments are also conducted to verify the numerical results.

The lateral deformation and axial deformation are largest at the middle of the driven links. The axial deformation at the middle of the driven link is approximately one-tenth of the transversal deformation. However, the elastic potential energy of the transversal deformation is much smaller than the elastic force generated from axial deformation.

Knowledge on the relationship between link deformation and motion precision is useful in the design of parallel manipulators for high performing dynamic responses.

This work establishes the relationship between motion precision and the amount of link deformation in parallel manipulators.