弹性机械臂几何性质与挠度

Interrelationship between geometrical property and elastic deflection of a flexible manipulator

研究了弹性机械臂动力学中机械臂几何性质与弹性挠度的关系．数值仿真结果表明，弹性挠度与臂长平方成正比，与臂厚度成反比．根据仿真结果，臂长确定的情况下截面惯性矩对弹性挠度的影响是主要的．因此，为减小弹性挠度必须选择惯性矩大的截面形状．

In this paper the interrelationship between geometrical property and elastic deflection of a flexible manipulator in elastic mechanical arm dynamics is investigated and reported.The dynamic simulation results show that the elastic deflection is inverse proportional to the length of manipulator link.If the link length is fixed,it can also be observed that the moment of inertia of cross section tacks a leading effect on the elastic deflection of the link.Based on result,It is necessary to choice the big inertia cross section shape to reduce the elastic deflection.