柔性机械臂系统动力学建模的研究

Research on Dynamic Modeling of Flexible Manipulator System

有限差分法和有限元法不仅对于均匀梁的单连杆柔性机械臂系统的建模有效,而且较假设模态法等方法更适合于非均匀截面梁的柔性机械臂系统的建模。应用这两种方法建立单连杆柔性机械臂系统动力学模型,模型中包含了机械臂的形状参数以及驱动器的参数。为验证建模方法的有效性,进行了大量的数值仿真工作,仿真结果显示其有效性和可行性。

Finite difference （FD） and finite element （FE） methods are not only effective for uniform beam but also found to be more suitable for non-uniform cross-section beam of a single-link robotic flexible manipulator system. The dynamic model of a single-link robotic flexible manipulator system which includes structure parameters and driver parameters was proposed. To validate the effectiveness of the model, much simulation work was done. Simulation results demonstrate the effectiveness and the feasibility of the proposed methods.