粘弹性阻尼对柔性多体系统瞬态响应的影响  

THE EFFECT OF VISCOELASTICITY ON THE TRANSIENT RESPONSE OF FLEXIBLE MULTIBODY SYSTEMS

作　　者：潘振宽[1] 于培仁[1] 徐茂荣[1] 臧宏文[1] 洪嘉振[2] 

机构地区：[1]青岛大学自动化系 [2]上海交通大学工程力学系

出　　处：《青岛大学学报（工程技术版）》1997年第2期54-60,共7页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：国家自然科学基金;山东自然科学基金

摘　　要：对粘弹性材料阻尼对柔性多体系统动力学瞬态响应的影响进行数值研究。用Ｊｏｒｄａｎ变分原理建立系统动力学方程，采用独立铰坐标描述相邻物体间的大位移运动，用一致质量有限单元法对变形体进行离散，并引入振动正则模态降低弹性自由度的数目。对系统中的粘弹性部件取工程中常用的Ｋｅｌｖｉｎ－Ｖｏｉｇｔ模型。文末计算了两弹性臂机器人操作手在不同阻尼系数下的动力学响应，并与线弹性模型进行比较。Study of the effect of viscoelastic material damping on the dynamic response of flexible multibody systems is made in this paper. The dynamic equations of the system are derived by using Jordan′s principle. The large displacements between contigues bodies are described with independent joint coordinates. The small deformation is described with modal coordinates based on the consistent finite element method and vibration normal mode analysis method. In developing the system equation of motion of the viscoelastic component, the Kelvin-voigt model is employed. Finally, it is demonstrated, by a numerical example, that the visco-elastic material damping can have a significant effect on the dynamic response of flexible multibody systems.

关 键 词：柔性多体 动力学响应 粘弹性阻尼 

分 类 号：O347[理学—固体力学]