垂直平面三杆柔性机械手动力学建模及仿真

Dynamics Modeling and Simulation of Three-link Flexible Manipulator on Vertical Plane

为解决柔性机械手动力学建模常用的有限元等方法导致模型精度不高的问题,将柔性机械手视为连续整体,用矢量法建立了机械手的动力学模型。对比了矢量法和FEM法建立的动力学模型以及理想状态下机械手刚体动力学模型的仿真结果。对比结果表明,用矢量法建立的柔性机械手动力学模型是可行的,精度也较高。

For solving problem of lower accuracy induced by common methods in flexible manipu- lator dynamics modeling, such as FEM etc. , flexible manipulator was considered as a continuous whole and its dynamics model was built by vector method. Simulation results of dynamics model of flexible manipulator under vector method and FEM,and dynamic model of ideal rigid manipulators were com- pared to prove that vector method is effective and more accurate.