单杆柔性机械臂动力学分析

Dynamic Analysis of One－link Flexible Mechanical Arms

本文利用Ｄ’ＡＬｅｍｂｅｒｔ原理建立了单杆柔性机械的动力学方程，并用模态展开法对其进行了离散化。最后，给出了计算机模拟结果。为进一步开展多杆柔性机械臂动力学分析其控制打下了基础。

ABSTRACT In this paper，the dynamic equation of one-link flexible mechanical arm is setup by using D’Alembert principle.The assumed mode expansion mothod is used for its dis-persion，Finally，the paper presents the computer simulation result．Thus it has made a basisfor dynamic analysis and control of n-link mechanical arm.KEY WORDS mechanical arm；flexibility；Simulation；D’Alembert Principle