双连杆柔性臂动力学建模与仿真分析  

Dynamic Modeling and Simulation Analysis of a Two-link Flexible Robot Manipulator

作　　者：董得忠[1] 郭军[1] 丁希仑[1] 连华东[2] 

机构地区：[1]北京航空航天大学,北京100083 [2]北京空间机电研究所,北京100076

出　　处：《机械科学与技术》2006年第4期472-475,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：北京航空航天大学宇航学院青年教师创新基金项目资助

摘　　要：基于修正的固定界面子结构模态综合法———Craig-Bampton法,利用多体系统动力学仿真分析软件MSC.ADAMS与有限元分析软件MSC.NASTRAN完成对双连杆柔性机械臂动力学建模,进行了运动学仿真分析,并且与刚性臂运动相比较,对柔性机械臂末端运动振动信号进行了频谱分析。分析结果表明,这种方法在多柔体系统建模和分析中是精确和高效的。The dynamic model of a two-link flexible robot manipulator is built by using MSC. ADAMS and MSC. NASTRAN and improved fixed-interface substructure component mode synthesis. The kinematics simulation analysis of the model is carried out and compared with that of a stiff manipulator. The frequency of the motion signals at the tip of a flexible manipulator is analyzed. The analysis shows that the model is accurate and efficient in the modeling of flexible muhibody systems.

关 键 词：双连杆柔性臂 模态综合 ADAMS 

分 类 号：O313.3[理学—一般力学与力学基础]