摘要
研究了具有被动约束装置的柔性机械臂的动力响应.由于转动梁具有强非线性、强耦合的特性,因此,采用la-grange方法和Rayleigh-Ritz方法建立机械臂的动力学模型,并在时域中分析其动力响应.该机械臂附加有约束层和粘弹性材料层在铅垂面内转动,末端承受一集中质量.数值仿真表明,约束阻尼层不但能减少弹性振动的振幅,而且能很快将振动衰减掉.
This paper studies the vibration behavior of a flexible manipulator with passive constrained layer damping（PCLD） treatment. Due to the highly nonlinear and coupled characteristics of the beam with PCLD treatment,Using Lagrange＇s equation and Rayleigh-Ritz method, the dynamic model of the manipulator is obtained and its vibration response is analyzed in the time domain. The manipulator rotates in a vertical plane and carries an end mass. Numerical simulations show that the VEM not only reduces the amplitude of the elastic deflection but also quickly attenuates the vibration to zero.
出处
《吉林建筑工程学院学报》
CAS
2006年第3期9-11,31,共4页
Journal of Jilin Architectural and Civil Engineering
基金
吉林省科技发展计划项目(20040535)
关键词
柔性机械臂
动力学
被动控制
flexible manipulator
dynamics
passive constrained layer damping
