摘要
将刚-柔耦合体动力学的新建模理论应用于受冲击柔性机械臂的研究。将柔性机械臂简化为弹性梁,在梁的纵向变形中考虑了变形耦合量,计及了这种耦合对大范围运动的影响。利用Lagrange方程建立了机械臂的动力学方程。将受碰撞冲击后柔性机械臂的瞬态响应,作为求解动力学方程组的初始条件。针对刚体模型和柔性耦合模型进行了数值仿真计算,表明柔性耦合模型更加符合实际情况,为柔性机械臂的动力学分析与控制提供了依据。
In this paper, the new methodology of rigid-flexible coupling dynamic model is used to derive the dynamics formulation of a flexible robot arm, which is simplified to a flexible beam and shocked by an impact loading. Not only the flexural and extensional effects, but also the coupling terms of these deformations are included in the derivation. So, the coupling effects between large overall motions and elastic deformation of the flexible beam are considered. The difference equations are obtained by using Lagrange＇s equation, and the initial conditions are determined by the impacted loading. The simulation results of rigid model and rigid-flexible coupling model show that the rigid-flexible coupling model is valid for the actual flexible arm.
出处
《机械科学与技术》
CSCD
北大核心
2005年第8期932-935,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
柔性机械臂
耦合量
碰撞
Flexible robot arm
Coupling term
Impact
