计及变形耦合的双连杆柔性机械臂动力学模型  

DYNAMIC MODEL OF TWO-LINK FLEXIBLE MANIPULATOR IN CONSIDERATION OF COUPLING DEFORMATION TERMS

作　　者：邓峰岩[1] 和兴锁[1] 李亮[1] 张娟[1] 

机构地区：[1]西北工业大学工程力学系,西安710072

出　　处：《机械工程学报》2006年第B05期69-73,共5页Journal of Mechanical Engineering

摘　　要：根据连续介质的几何非线性变形原理,结合柔性多体系统建模理论的最新进展,在柔性梁的纵向、横向变形位移中均考虑了横向弯曲变形以及轴向伸缩变形的耦合作用,对一双连杆柔性机械臂系统,将其简化为柔性梁结构,利用有限元法和Lagrange方程,得出不同于传统零次近似方程,也不同于一次耦合动力学方程的新方程, 并可将此方程拓展到多杆机械臂系统。模型包含了二次耦合附加项,并且由于增加了变形耦合量,对柔性梁产生了“软化”作用,使得柔性机械臂模型不同于传统动力学模型。最后,计算仿真说明了这种差异,揭示了新模型的特点和有效性。Based on the geometrically nonlinear deformation of continum medium mechanics and the new theory of elastic multibody system, the coupling effect, which is due to the stretching rate and the bending deformation displacements, is considered in the longitudinal and transversal displacement field of the flexible beams. A two-link flexible manipulator is simplified as flexible beams. Then the finite element method and Lagrange＇s equations are employed for deriving the coupling dynamical formulations, which are different from zero-order approximate dynamic model and one-order coupling dynamic model. This method can be used to multi-link flexible manipulator. Because of the second order coupling terms and the ＇softer beam effect＇ result from the added coupling terms in transversal displacement field, the dynamic model is different from the traditional dynamic model. Finally, the numerical simulation illustrates not only the difference, but also the character and validity of the new model.

关 键 词：柔性梁 柔性机械臂 变形耦合 

分 类 号：TH113[机械工程—机械设计及理论] O313.7[理学—一般力学与力学基础]