Dynamic and Stability of Harmonic Driving Flexible Cartesian Robotic Arm with Bolted Joints Based on the Sensitivity and Multiple Scales Method

<div>Vibration responses of the end-effector with and without the effect of the motion disturbance: (a) with average velocity; (b) with average acceleration.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: Dynamic and Stability of Harmonic Driving Flexible Cartesian Robotic Arm with Bolted Joints Based on the Sensitivity and Multiple Scales Method 

Figure 6 | Dynamic and Stability of Harmonic Driving Flexible Cartesian Robotic Arm with Bolted Joints Based on the Sensitivity and Multiple Scales Method 