基于逆向工程的挠性机械臂三维动力建模研究

Research on 3D Dynamic Modeling of Flexible Manipulator based on Reverse Engineering

为深入研究提高挠性机械臂结构强度的方法,进行了基于逆向工程的挠性机械臂三维动力建模研究。基于线性代数中逆向工程的运算理论来设计新型挠性机械臂三维动力建模方法,建立挠性机械臂运动学方程、挠性机械臂拉格朗日动力学方程、挠性机械臂三维动力模型,完成挠性机械臂三维动力模型的构建。通过仿真试验,对比了新型挠性机械臂三维动力建模方法与传统方法所得模型的精确度,证明了新型挠性机械臂三维动力建模方法的使用价值,为提高挠性机械臂的产品质量提供了技术支持。

In order to deeply study the method of improving the structural strength of flexible manipulator,a three-dimensional dynamic modeling study on flexible manipulator based on reverse engineering is proposed.Based on the theory of reverse engineering in linear algebra to design a new three-dimensional dynamic modeling method for flexible manipulators,the kinematic equation of the flexible manipulator,the Lagrange dynamic equation of the flexible manipulator,and the three-dimensional dynamic model of the manipulator are established,then the construction of the three-dimensional dynamic model of the flexible manipulator is completed.Through simulation experiments,the accuracy of the new flexible manipulator 3D dynamic modeling method and the traditional model is compared,and the use value of the new flexible manipulator 3D dynamic modeling method is proved,which can provide technical support for improving the product quality of the flexible manipulator.