Research on Flexible Dynamics Sensitivity Analysis in Robotic Arm System

The dynamic parameters of the robotic arm system and their coupling effects have a significant impact on the motion control. To explore the importance of dynamic parameters on the dynamic characteristics quantitatively, a model-based method of system parameter sensitivity analysis has been proposed. Initially, a dynamic model of the robotic arm considering the joint and link flexibility is established, and a process for dynamic parameter sensitivity analysis of the robotic arm is formulated. By analyzing the causality diagram of dynamic responses, the main input and output parameters are determined. Subsequently, through optimized multifactorial experimental design, simulation experiments and variance analysis are conducted to obtain results of the impact of each input parameter on the output. This study quantitatively examines the effects of joint and link flexibility and their coupling on end-effector tracking accuracy, and reveals the pattern of tracking accuracy variation with changes in the stiffness ratio of joints and links.