摘要
约束违约是动力学建模过程中不可避免的问题。以双臂协调机械手搬运物体为研究对象,在基于Udwadia-Kalaba方程建立的动力学模型的基础上,将零阶、一阶广义变量偏离约束流形的偏移量转化为Udwadia-Kalaba方程的约束力项,给出了新的双臂协调机械手动力学模型。并与两组稳定区域内的Baumgarte参数修正的Udwadia-Kalaba方程、改进Udwadia-Kalaba方程在初始条件与约束方程相容和不相容两种情况下作对比,仿真结果表明改进Udwadia-Kalaba方程的抑制效果最差,投影法与最佳Baumgarte参数的抑制效果相当。但与Baumgarte方法需不断试错寻求最佳参数相比,投影法则更具优势。
Constraint violation is an inevitable problem in dynamic modeling.The new dynamic model of dual-arm coordinated manipulators is presented by means of Udwadia-Kalaba equation which the deviation of the zero-order and first-order generalized variables from the constrained manifold is transformed into the constraint force.Compared with the Udwadia-Kalaba equation which is modified with two groups of Baumgarte parameters in stable region and the improved Udwadia-Kalaba equation under the compatibility and incompatibility between initial conditions and constraint equations,the stimulation results show that the improved Udwadia-Kalaba equation has the worst inhibition effect,the projection method has almost the same inhibitory effect as the optimum Baumgarte parameter.However,compared with Baumgarte method,which requires constant trial and error to find the optimal parameter,projection method has more advantages.
作者
刘佳
刘红宁
孙宏强
LIU Jia;LIU Hongning;SUN Hongqiang(College of Mechanical and Electrical Engineering Shijiazhuang University,Hebei Shijiazhuang 050035,China)
出处
《机械设计与制造》
北大核心
2025年第12期29-34,共6页
Machinery Design & Manufacture
基金
河北省教育厅高等学校科学研究项目(QN2020510)。
