平面多自由度柔性机械手应用矢量法动力学建模及仿真

Modeling and simulation of planar MDOF flexible manipulator by applying vector method and dynamics

首先采用矢量法,尝试对垂直平面内的多自由度柔性机械手系统的动力学模型进行推导。然后以垂直平面三杆柔性机械手为例,简化机械手构件,提取机械手广义坐标变量,应用矢量法推导柔性机械手的动力学方程。最后用maple仿真软件对机械手末端运动情况进行了计算机仿真,验证了矢量法确实能够提高柔性机械手动力学模型精度,并且降低了计算过程中符号运算的复杂程度,是一种比较理想的动力学建模方法。

Dynamic formula of planar MDOF flexible manipulator system is deduced by vector method. As three bars flexible manipulator of plane, it is simplified and general coordinate vari- ables are collected. Then dynamic equation is deduced by vector method. Finally, motion results of dynamic model at the end of manipulator are simulated by maple software. So the vector method is proved to improve the accuracy of system and reduce the complexity of variable in the formula and to be an ideal method to build dynamic model.