摘要
在机器人柔性手臂动力学的有限元分析中,往往导致很高的自由度,加之动力学方程的时变性,其动力响应的计算不仅十分复杂,而且可能因计算机内外存容量的限制及昂贵的机时费用而难以实现.本文将模态综合法引入机器人柔性手臂的动力学分析,把柔性手臂的各部件隔离成自由界面子结构,把其动力学有限元方程投影到各自的模态空间中,关节连接件(关节集中质量、关节阻尼、关节弹性)处理成耦合件,最终在诸子结构的模态坐标集上建立了整体系统的运动微分方程,使之大幅度降阶.
Finite element method for transient dynamic analysis of flexible manipulator arms can be cumbersome and costly in computer time. In this paper, modal synthesis techniques are used for the dynamic analysis of flexible manipulator arms.A robotic maniplator system is broken up into its free-free substructures (or components). The component equation size is reduced by modal synthesis techniques. The reduced component equations are then coupled to construct the overall system equations.
出处
《振动工程学报》
EI
CSCD
1991年第1期8-16,共9页
Journal of Vibration Engineering
关键词
机器人
柔性手臂
多体动力学
robot
flexible manipulator
multibody system
mode synthesis
