冗余度柔性机器人复模态弹性动力分析  

Complex Mode Elastodynamic Analysis of Flexible Redundant Manipulators

作　　者：宋轶民[1] 张策[1] 杨通强[1] 余跃庆[2] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]北京工业大学机电学院,北京100022

出　　处：《机械科学与技术》2004年第7期780-782,共3页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(5 9975 0 0 1);中国博士后科学基金项目资助

摘　　要：应用运动弹性动力分析的精确方法 ,建立了计及刚弹耦合的冗余度柔性机器人的运动微分方程。为解决非对称系统的解耦问题 ,提出了一种新的模态矩阵构造方法 ,获得了系数矩阵皆为实矩阵的系统状态空间表达式 ,并采用复模态叠加法求解系统的弹性动力响应。最后 ,以平面On the basis of the kineto elastodynamics, the governing equation of flexible redundant manipulators is developed, which includes the coupling of rigid body and elastic motions. To decouple the derived asymmetric system, a novel method for forming the modal matrices is presented. The state space expression of the system is formulated whose coefficient matricesare all real ones. Based on the complex mode superposition method, the elastodynamic response of the manipulator is calculated. Finally, a planar 3R flexible manipulator with only one redundant degree of freedom is utilized as an illustrative example.

关 键 词：柔性机器人 冗余度 动力学 复模态 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]