计及柔性的移动机械手动力学建模现状与展望

Research and Prospect of Dynamic Modeling of Flexible Manipulators

针对柔性移动机械手动力学建模的问题,介绍了常见的基于Lagrange方程的方法、Kane方法、旋转代数法和Newton-Euler方法等,对于各种动力学建模的方法进行了分析对比,指出了各种方法的优缺点,揭示了不同建模方法存在的问题.根据不同的应用背景,进一步明确了在考虑系统柔性的前提下,移动机械手动力学建模的关键技术和发展趋势.这对包含柔性体在内的多体系统,尤其是空间多体系统和复杂机构的分析控制有一定的参考价值.

Aimed at the dynamic modeling problems of flexible manipulators, the common methods based on Lagrange equation, Kane, the Algebra of rotation and Newton-Euler are introduced. And the comparative research are carried out. The advantages and disadvantages of these kinds of methods are pointed out too. Thus, the problems of different methods are revealed. According to different circumstance, the key technology and development trends are made clear more at the premiss of flexible. These research maybe have some reference value to the analysis and the control of multi-system including flexible body, especially to the multi-system in space and complex mechanism.