摘要
采用哈密顿模型,对关节处含谐波减速器的空间柔性操作臂的动力学特性进行了研究.在考虑谐波减速器柔性效应的前提下,分析了臂杆运动过程中的动态约束类型,得到包含系统控制参量和谐波减速器刚度系数的模态频率和振型方程.综合关节和臂杆的柔性,建立了耦合系统控制律的动力学方程.通过仿真计算了不同控制参数下系统的动力学响应,验证了所建系统动力学模型的有效性.
The dynamic characteristic of the space flexible manipulator driven by harmonic retarder fixed in joint was researched under Hamilton＇s canonical equations. Considering the flexible effect of the harmonic retarders, the style of dynamic constraint of the flexible beam during control was analyzed; then, the modal frequency and vibration shapes related to the control parameters and hamonic retarder＇s rigidity＇parameter were obtained. Referring to both the joint and the beam flexibility, the dynamic equations coupled control parameters were built. The dynamic responses under different control parameters were simulated with examples; therefore, the validity of the system model was certificated.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2008年第3期98-102,共5页
Journal of Beijing University of Posts and Telecommunications
基金
教育部科学技术研究重大项目(307005)
关键词
柔性操作臂
哈密顿体系
动态约束
动力学
flexible manipulator
Hamilton canonical equations
dynamic constraint
dynamics
