摘要
采用有限段方法建立柔性机械臂的离散模型，以基于Ｋａｎｅ方程的Ｈｕｓｔｏｎ方法建立柔性机械臂的动力学方程。在方程中，计入几何非线性变形的惯性影响，包括非对称花面当量弹性力对于广义主动力的贡献。求解过程引入相对位移的模态变换以提高计算效率。以单柔性机械臂为例，进行动力学仿真与实气研究。结果表明数值计算结果与实验结果吻合良好。
The dynamic equations of flexible arm are developed by means of Huston's method based on Kane's equations. The finite segment method is adopted to establish the models of the flexible arm. The inertia effects of the arm nonlinear deformations are taken into account,and the contributions of the elastic forces of the asymmetric thin-walled cross-section are involved in the equations. The mode transformation of relative displacements is introduced into the calculating process to increase the eHiciency. As an example, dynamic analysis and experiment are performed, and the numerical results are in agreement with the experimental results.
出处
《中国机械工程》
CAS
CSCD
北大核心
1995年第6期18-20,共3页
China Mechanical Engineering
基金
国家自然科学基金
天津市青年基金
关键词
柔性机械臂
动力学分析
试验
机械手
flexible arm finite segment method Kane's equations dynamic analysis and experiment
