摘要
由于柔性结构体具有无限维分布参数特点,导致其固有频率难以确定。针对变截面柔性机械臂的固有频率难以准确计算的问题进行了研究,首先建立了柔性机械臂的动力学模型,利用微元法对机械臂固有频率计算方法进行研究求解,然后分析影响固有频率的因素,最后针对航空铝材变截面柔性机械臂采用实验测定、软件仿真等方法得出固有频率,与计算值相比误差均在5%以内。对比结果表明了所用方法的正确性。
Due to the infinite-dimensional distributed parameters of the flexible structure, it is difficult to determine its natural frequency.In order to solve the problem that the natural frequency of the variable cross-section flexible manipulator is difficult to accurately calculate, the dynamic model of the flexible manipulator is established.Then the calculation method of the natural frequency of the manipulator is studied by infinitesimal method, and the factors affecting the natural frequency are analyzed.Finally, the natural frequency obtained by experimental measurement and software simulation is compared with the calculated value, and the error is within 5 %.The comparison result proves the correctness of the method used.
作者
夏瑞强
任豪
梁开旭
XIA Ruiqiang;REN Hao;LIANG Kaixu
出处
《现代机械》
2022年第1期56-60,共5页
Modern Machinery
关键词
机械臂
固有频率
微元法
manipulator
natural frequency
infinitesimal method
