柔性欠驱动机械臂动力学耦合分析

Dynamics Coupling Analysis of Flexible Underactuated Manipulators

为建立柔性3R欠驱动机械臂的动力学方程,采用Euler-Bernoulli梁模型并添加经迭代计算的边界条件,对柔性机械臂进行了动力学耦合与仿真分析。在对柔性机械臂进行模态分析的基础上,将柔性机械臂视为包含边界条件的悬臂梁和简支-自由梁模型,采用假设模态法建立柔性3R欠驱动机械臂的动力学模型。仿真结果证明:添加经迭代计算的边界条件的柔性梁模型能更好地反映自由关节的加速度耦合情况。最后对柔性欠驱动机械臂与刚性欠驱动机械臂进行关节耦合指标分析,结果表明柔性欠驱动机械臂的自由关节包含更复杂的耦合情况,对柔性机械臂弹性振动的控制是对柔性欠驱动机械臂控制的关键。

To establish flexible 3 Runderactuated manipulator dynamics equations,Euler-Bernoulli beam model was used with boundary conditions of iterative computations,the flexible robotic arm was coupled with the dynamics simulation.Based on the flexible manipulator modal analyses,the flexible manipulator was regarded as cantilever arm and simply supported free beam model with boundary conditions.A dynamics model of flexible 3 Runderactuated manipulators was established by assumed mode method.Simulation results show that the addition of boundary conditions for the iterative calculations of the flexible beam model may get a better reflection of the coupling accelerations of freedom joints.Finally,the coupling underactuated indices of flexible and rigid underactuated manipulators were analyzed.The results reveal that the flexible manipulator joints contain more complex coupling situations.The key to control underactuated flexible manipulators is to control the elastic vibrations of flexible manipulators.