机器人拉杆超静定吊装动力学问题研究

Study on the Dynamics of Statically Indeterminate Lifting of a Robot Tie Rod

利用刚体动力学理论和线弹性体变形理论,研究了一种机器人采用多根拉杆吊装刚体的超静定结构动力学问题,在忽略拉杆惯性效应而仅仅考虑吊装刚体惯性效应的前提下列出了刚体运动满足的动力学方程组,利用材料力学给出了拉杆动变形,通过联立求解得到了拉杆动响应的精确解,并与忽略动力效应的超静定静力问题的解做了比较分析,说明了吊装刚体惯性效应对拉杆动态应力和变形的影响。文中分析方法和结论对于机器人拉杆吊装系统等类似结构的强度设计和优化设计具有一定的理论参考意义,对于检验数值算法的精度也具有重要参考价值。

Based on the theory of rigid body dynamics and linear elastic body deformation,the dynamics of a statically indeterminate structure of a robot using multiple rods to lift a rigid body is studied.On the premise of neglecting the inertia effect of the tie rod and only considering the inertia effect of the rigid body during lifting,the dynamic equations that the rigid body motion satisfies are listed.The dynamic deformation of the tie rod is given by using material mechanics.The exact solution of the dynamic response of the tie rod is obtained through simultaneous solution,and it is compared with the solution of the statically indeterminate static problem ignoring dynamic effects.The effect of the rigid body inertia on the dynamic stress and deformation of the tie rod is explained.The analysis methods and conclusions in this paper have certain theoretical reference significance for the strength design and optimization design of similar structures such as the robotic rod lifting system,and are also of important reference value for checking the accuracy of numerical algorithms.