轮式移动2杆刚-柔性机械手逆动力学仿真

Simulation of Inverse Dynamics of Wheeled Mobile 2 Rigid-Flexible-Link Manipulator

针对轮式2杆刚-柔平面移动机械手逆动力学问题进行了系统研究。采用Pin-free边界条件,对机械手柔性构件进行了离散,采用有限元法分别构建了该移动机械手系统的完整正、逆动力学模型。在频域下,求解了系统驱动力(矩)和弹性构型变量,并在时域内对驱动力矩进行了修正,并对修正力矩和构型变量进行了累计误差分析。为了验证建模方法的有效,进行了大量数值仿真工作,仿真结果显示了其有效性和可行性。

The study of the inverse dynamics of a wheeled mobile 2 rigid-flexible-link planar manipulator（WM2RFLM） was proposed.Under Pin-free boundary conditons,the flexible link of WM2RFLM was discretized.Based on finite element method,the system forward and inverse dynamic models were formulated.The inverse dynamic model was solved in frequency domain to get the driving torque,which was modified and corrected in time field,and elastic configuration variables.And then,the accumulated errors of the driving toqure and configuration variables were evaluated by system forward dynamic model.To validate the effectiveness of the model,much simulation work was done.Simulation results demonstrate the effectiveness and the feasibility of the proposed methods.