基于ANSYS的H型刚柔耦合机械臂动力学建模与动态特性机理研究

Dynamic Modeling and Dynamic Characteristic Mechanismof H-type Rigid Flexible Coupling Manipulator Based on ANSYS

柔性宏刚性微机械臂作为机器人系统的一个重要结构,存在刚柔之间相互耦合。固有频率作为系统动态特性的一个重要指标,从整体上反映了系统动态特性,可通过结构参量分析改善系统动态特性。因此,有必要对其固有频率特性和内在机理进行深入研究。首先建立刚柔机械臂系统动力学模型。由于柔性宏刚性微机械臂系统具有多变量性和非线性,为较全面了解其动态特性机理,以H型截面宏柔微刚机械臂为例,分别从截面参数、材质组合、集中质量等方面分析各因素对系统固有频率特性的影响。研究结果表明:在相同情况下,随着等比长度的增加,机械臂固有频率呈现急剧减小趋势;采用柔性钢刚性铝组合的机械臂相比全钢或全铝,结构固有频率大幅提升;在保持其他参量不变的条件下,降低末端质量有利于提高机械臂固有频率。通过以上分析为进一步研究H型刚柔机械臂整体优化设计提供了理论依据。

As an important structure of robot system,the flexible macro rigid micro manipulator has rigid flexible coupling.As an important index of system dynamic characteristics,the natural frequency reflects the system dynamic characteristics as a whole.The system dynamic characteristics can be improved by structural parameter analysis.Therefore,it is necessary to deeply study its natural frequency characteristics and internal mechanism.Firstly,the dynamic model of rigid flexible manipulator system is established;because the flexible macro rigid micro manipulator system has multivariability and nonlinearity,in order to fully understand its dynamic characteristic mechanism,the effects of various factors on the natural frequency characteristics of the system are analyzed from the aspects of section parameters,material combination and concentrated mass,taking the H-section macro flexible micro rigid manipulator as an example.The results show that under the same conditions,the natural frequency of the manipulator decreases sharply with the increase of the proportional length;compared with all steel or rigid aluminum,the structure natural frequency of the manipulator with flexible steel micro aluminum combination is greatly improved;under the condition of keeping other parameters unchanged,reducing the end mass is conducive to improving the natural frequency of the manipulator.The above analysis provides a theoretical basis for the further study on the overall optimization design of H-type rigid flexible manipulator.