挠性机械手动力学分析(Ⅰ)

Dynamics Analysis of a Flexible Manipulator(Ⅰ)

本文用有限元法离散化并结合Lagrange方程建模,计算了每个有限元的动能和势能,然后把它们适当结合,导出了系统动力学控制方程。该方程有两种形式,分别对应于普通工业和空间技术用两种挠性机械手。本文导出的动力学控制方程是高度非线性的STIFF常微分方程组。

A flexible manipulator with a single link is studied in this paper. A finite element and Lagrang's equations modelling method is presented. The kinetic and potential energies of each finite element are derived. These elemental kinetic and potential energies are then appropriately combined to derive the dynamic equations for the system. There are two types of equations corresponding to the manipulators used in industry and in space technology respectively. The dynamic equations developed in this paper are a set of highly nonlinear STIFF ordinary differential equations.