线驱动柔性臂捕获装置的多体动力学特性分析

Multi-body Dynamic Analysis of A Tendon-driving Flexible Gripping Device

以线驱动柔性机械臂捕获装置为研究对象,提出了一种多柔体动力学建模方法,分析了捕获装置抓取目标物体过程中的动力学特性。首先,基于拉格朗日方程和有限元方法,建立多柔体动力学模型;其次,进行计算模型与实物柔性臂运动轨迹和变形状态的验证;最后,通过动力学仿真分析柔性机械臂装置在捕获目标物体的过程中的形态变化,以及驱动力和阻尼比对柔性臂捕获范围的影响。

A multi-flexible body dynamic modeling method is proposed for a tendon-driving flexible gripping device,and the dynamic characteristics of the gripping device are analyzed in the process of grasping a target object.Firstly,a multi-flexible body dynamic model is established using the Lagrange equation and finite element method.Then,the motion trajectory and deformation states of the numerical model and the actual flexible arm are compared.Finally,changes in internal forces and the influence of the driving force and damping ratio on the gripping range and impact force of the flexible arm while capturing the target object are numerically analyzed.