摘要
对柔性机器人的动力奇异问题进行了研究。首先分析了柔性机器人产生动力奇异的原因,确定了激振力的方向、激振力的大小、阻尼的大小、在共振区间内激振力频率与机器人固有频率的相对变化速度以及机器人固有频率的大小是影响动力奇异的因素;然后提出了机器人动力奇异的判定依据和避免动力奇异的措施;最后以一末杆为柔杆的空间三杆机器人为例,验证了理论分析的正确性。
The dynamic singularity of the flexible manipulators is studied. Firstly, the reason that cause the dynamic singularity of the flexible manipulators is analyzed. The factors which influence the dynamic singularity is confirmed. The factors include the direction of the outside force, the strength of the outside force, the value of the damp, the relative between the frequency of a outside force and the natural frequency of a flexible manipulator during they are in resonance sidebands and the value of the natural frequency of the flexible manipulator. Then the criterion of the dynamic singularity and the method to avoiding the dynamic singularity are proposed. Finally, a space manipulator with three arms (the last arm is flexible) is simulated, and the theoretical analysis is verified to be correct.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2004年第11期64-69,共6页
Journal of Mechanical Engineering
基金
国家自然科学基金(50075008)
国家863高技术研究发展计划(863-2001AA421200)资助项目
关键词
动力奇异
共振
固有频率
柔性机器人
Dynamic singularity Resonance Natural frequency Flexible manipulator
