几何非线性机械臂有限段传递矩阵法

Finite Segment Transfer Matrix Method for Nonlinear Mechanics Arm

提出了几何非线性柔性机械臂动力学有限段传递矩阵建模方法,该方法既保留了有限段法自动计及几何非线性和动力刚化的优势,又保留了传递矩阵法建模的方便灵活。算例表明,计算时间与自由度成正比,在已知运动规律的情况下,可直接求得所需的驱动力矩,反之亦然。该方法无需建立系统总体动力学方程,易于工程技术人员掌握,具有一定实用价值。

The modeling method for geometrical nonlinear flexible beam, named finite segment transfer matrix method, is proposed in the study. The method combines the advantages of finite segment method of automatic considering the geometrical nonlinear and dynamic stiffness terms in control equation, and the characteristic of transfer matrix method of flexibly and conveniently modeling. The numerical examples show that the computation time is direct ratio with freedom degree of system. If the rule of system motion is given, the driving moment can be got directly, and vice versa. Furthermore the total dynamics of system need not be deduced for dynamics analysis of flexible mechanical system, so the method can be applied easily by engineers and research workers.