摘要
基于柔性杆件的有限段模型,利用Lagrange方程建立了包含刚性支座的双连杆柔性机械臂的刚、柔混合多体系统动力学模型并完成了系统的动力学仿真。仿真结果表明,有限段方法用于处理含柔性杆件的多柔体系统动力学问题是行之有效的,既可在宏观层次上模拟各柔性臂的大范围刚体运动,又可在微观层次上模拟各柔性臂的弹性振动,能够准确地反映此类系统刚柔耦合运动特性。
A hybrid multi-body system composed of two flexible manipulators and rigid pedestals is considered in this paper. The dynamical model of the system is established based on Lagrange principle using Finite Segment Method （FSM） and numerical simulation is performed. The simulation result demonstratos that FSM is an effective method to study the dynamics of multi-links flexible manipulators; both the large overall motion and the small elastic vibration of each manipulator can be represented in detail.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2006年第5期1044-1049,共6页
Journal of Astronautics
基金
北京航空航天大学宇航学院青年教师创新基金
国家863青年基金
关键词
柔性机械臂
有限段方法
动力学仿真
多柔体系统动力学
Flexible manipulators
Finite segment method
Dynamic simulation
Dynamics of flexible multi-body system
