刚-柔性机械臂动力学建模及其动力学特性研究

Research of dynamic modeling and performance for rigid-flexible manipulators

根据假设模态法,对刚-柔性机械臂系统进行了位形表达及运动学分析.基于Kane方程,建立了刚-柔性机械臂系统的动力学模型.数值仿真结果表明,截取前二阶模态即可满足刚-柔性机械臂系统的精度要求;分析了柔性机械臂的结构参数、材料参数和驱动力矩对其动力学特性的影响.研究结果表明:通过采用矩形截面,采用较大弹性模量的材料,减小外部施加的驱动力矩,避免驱动力矩产生突变,可以有效地提高刚-柔性机械臂系统的动力学性能.

Judged by the assumption mode method, configuration expression and kinematic analysis were used to investigate the rigid-flexible manipulators system. Based on Kane＇s equation, the dynamie model of rigid-flexible manipulators system was established. Numerical simulation illustrates that interception before the second-order modes can meet the rigid-flexible manipulators system aecuracy. The impact of different structures on the dynamic perfor- mance of flexible manipulator such as physical parameters, material parameters and driving moments were discussed. The results show that by using rectangular seetion, using larger elastic modulus of materials, reducing the external pressure driving moment, avoiding driving moment producing mutations can effectively improve the dynamic performance of rigid-flexible manipulators system.