单连杆柔性机械臂动力学模型分析

Model Analysis of a Singlerod Flexible Robotic Manipulator

针对单连杆柔性机械臂研究了几种不同因素对其动力学响应的影响。分析了假设模态的数目对系统响应的影响，导出了模态截断与系统惯性矩阵的关系。分析了连杆的纵向变形引起的离心力纵向效应与系统响应的关系。

In this paper,influence of several factors on the dynamic response of a singlerod flexible robotic manipulator is studied.The influence of mode truncation is discussed and the relationship between the mode truncation and the inertia matrix is derived.The influence of the elongation component of centrifugal force caused by the elongation deformation to the system is also analyzed.