含铰链间隙的刚-柔机械臂动力学模型  

A DYNAMIC MODEL OF THE MECHANICAL ARM WITH JOINT CLEARANCE

作　　者：何柏岩[1] 王树新[2] 张颖[2] 

机构地区：[1]中国汽车技术研究中心,天津300162 [2]天津大学机械学院,天津300072

出　　处：《动力学与控制学报》2004年第2期70-73,共4页Journal of Dynamics and Control

摘　　要：根据Hertz接触定律和Coulomb摩擦定律,建立了含间隙平面旋转铰的力学模型;采用几何变形约束法和模态缩聚技术描述柔性机械臂的非线性变形;同时考虑两个旋转铰的间隙特性和柔性臂的弹性变形,最终采用Kane方程建立了含铰链间隙的刚-柔机械臂系统的动力学模型.Joint clearance exists in mechanical multibody systems, which affects the constraint conditions, the degree of freedoms, and the topological structures of the mechanical system. Based on the Hertz's contact law and the Coulomb's friction law, a mechanical model of the planar revolute joint with clearance was built. A two-beam mechanical arm with one rigid beam and one flexible beam was studied, and the elastic distortion of the flexible beam was described by the geometrical deformation constraint method and the modal condensation method. By using the Kane's equation, a complete dynamic model of the mechanical arm, which considered two planer revolute joints with clearance, was built, and the model was more realistic and precise compared to the conventional one.

关 键 词：机械多体系统 动力学模型 刚-柔机械臂 平面旋转铰链 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]