Coupled dynamic modeling and characteristic analysis of an underactuated bionic scorpion robot arm during polarizer attachment motions

During the flexible polarizer attachment motions, the existing methods for attaching polarizer may generate misalignment, low accuracy and low repeatability. To improve the dynamic motions on attachment effects, a coupled dynamic model of underactuated bionic scorpion robot arm is mathematically established by combining the rigid model and friction model with flexible model in potential attachment motions. The coupled dynamic model can be individually simulated to obtain the end’s motion and each joint moment, and the experiments can be utilized to verify the coupled dynamic simulations. The smooth changes simulated by the coupled model can be utilized to restrain the vibratory impulse to improve the dynamic motions of underactuated bionic scorpion robot arm. The experiments demonstrate that the coupled dynamic model seems to be reasonable to accomplish dynamic motions in attachment operations. The minor errors declare that the established coupled dynamic model exhibits fairly more accurate and steady. Underactuated structural design may be relatively reasonable to effectively ensure the stability and accuracy of the robot arm motions. Furtherly, this method can advance to enhance the dynamic properties of bionic scorpion robot arm motions for attaching polarizer onto flexible OLED display screen.