剪切变形和转动惯性矩对弹性机械臂动力响应的影响

Effect of the Shear Deformation and the Inertia Rotation on the Dynamic Response of Flexible Manipulator

对Timoshenko梁、Rayleigh梁和Benoulli-Euler梁动力学模型进行数值仿真和比较,分析了剪切变形和转动惯性矩对弹性机械臂动力响应的影响,得出剪切变形、转动惯性矩只对短粗梁有较大影响,对细长梁影响很小,可以忽略不计.

This paper focuses on the comparison among the three dynamic modes of Timoshenko beam, Rayleigh beam and Bernoulli-Euler beam, and makes numerical simulation. The effect of shear deformation and the inertia rotation on the dynamic response of flexible manipulator were analyzed. The conclusion that the shear deformation and the inertia rotation have significant effect to the short thick beam, while this effect on slender beam is too small to be considered.