单自由度柔性机械臂刚柔耦合动力学仿真研究

Rigid-Flexible Coupling Dynamic Simulation Research on a Single Degree of Freedom Flexible Manipulator

柔性机械臂在刚性旋转的同时自身存在弹性变形运动,其动力学行为表现为复杂的刚柔耦合现象,对机械臂的控制精度和运动稳定性产生不可忽视的影响。为研究单自由度柔性机械臂的刚柔耦合特性,采用了ANSYS和ADAMS的联合仿真方法。基于柔性体建模理论,在ANSYS中建立单自由度柔性机械臂的有限元模型,将模型导入ADAMS中进行动力学仿真。分析了机械臂末端的振动与转速的关系,研究了某一时刻的动应力及其随时间的变化情况。结果表明,该方法适用于柔性机械臂的刚柔耦合动力学特性研究,对柔性机械臂的设计具有重要意义。

Flexible manipulator in a rigid rotation will produce elastic deformation of movement,and the dynamic behavior of rigid-flexible coupling is complex,which has a great effect on the control accuracy and the stability of motion of the manipulator.In order to study on rigid-flexible coupling characteristics for the single degree of freedom flexible manipulator,the co-simulation method using ANSYS and ADAMS was adopted.According to the modeling theory of flexible body,the finite element model of a single degree of freedom flexible manipulator was established in ANSYS,which was used to import into ADAMS to carry on dynamic simulation.The relationship between the end point vibration of flexible manipulator and rotational velocity was analyzed,and the stress at one time and its change with time were studied.The results show that this method is suitable forflexible manipulator＇s rigid-flexible coupling dynamic characteristics and it is of great significance to design the fexible manipulator.