一种柔性机器人的子杆法建模方法

A MODELING SCHEME FOR FLEXIBLE MANIPULATORS BY SUBLINKS AND PASSIVE JOINTS

本文实现了一种用虚拟刚性子杆及被动关节模型模拟柔性杆 ,进而对空间多杆柔性机器人建模的方法 ;采用遗传算法解决了子杆参数的优化辨识问题 ;讨论了这一建模方法的适用范围 ;并通过 Raleigh阻尼的引入完善了这一方法 ;最后通过仿真初步验证了这一方法的有效性和正确性 .

In this article, a new modeling approach to spatial flexible manipulators is proposed on the basis of reference \ . The modeling scheme first uses virtual rigid sub links and passive joints to model a single flexible link. And then a model of the whole manipulator is obtained by connecting models of links. The parameter identification of the sub links and passive joints is achieved by using of genetic algorithms. The type of manipulators that the scheme can properly use is discussed. And by quoting the principle of Raleigh damping, the scheme is improved. The results of numerical simulation show the validity of the modeling scheme.