摘要
针对目前柔性机械手动力学建模方法计算复杂和精度难以控制的问题,提出一种新的基于弹簧和刚体的单杆柔性机械手模型的动力学建模方法.该方法通过简化杆件,将杆件分解为若干由弹簧连接的刚体,引入弹簧的弹性势能代替杆件实际变形产生的弹性势能,代入拉格朗日方程建立柔性机械手动力学模型.基于该动力学模型完成机械手末端运动轨迹及机械手运动角度、角速度的计算机仿真,并将仿真结果与应用二阶假定模态法建立的机械手动力学模型得到的结果比较,验证了新模型的可行性.
In order to solve the problems of complex calculation and uncontrolled accuracy in dynamic model of flexible manipulator,a new method of building dynamic model was proposed based on a new model with springs and rigid bodies.According to this method,manipulator was simplified as some rigid bodies connected by springs.So new dynamic model was built by the Lagrange equation with elastic energy added which replaced elastic energy induced by manipulator deformation.Based on new dynamic model,computer simulation result of the end point of manipulator,angles,angle velocity and angle acceleration of bars was showed and compared to the one on basis of second order assumed modal method.It is proved that new model is available.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第10期26-29,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(61473113
51575157)
河北青年拔尖人才资助项目(BJ2014015)
关键词
柔性机械手
弹簧
动力学模型
弹性势能
仿真分析
flexible manipulators
spring
dynamic model
elastic energy
simulation analysis
