柔性机械臂动力学建模及特性研究  

Dynamic Modeling and Performance Analysis of a Flexible Arm

作　　者：唐国潮[1,2] 金国光[1,2] 刘远[1,2] 

机构地区：[1]天津工业大学机械电子学院,天津300160 [2]天津市现代机电装备技术重点实验室,天津300160

出　　处：《机械科学与技术》2009年第8期1031-1034,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50675154);天津市应用基础及前言技术研究计划项目(09JCYBJC04600)资助

摘　　要：柔性机械臂是一个高度非线性、强耦合动力学系统。笔者基于假设模态法和Lagrange方程建立了柔性机械臂的动力学模型。数值仿真结果表明,截取系统的前三阶模态能保证系统的精度。分析了柔性机械臂的物理参数、结构参数以及外加驱动力矩对其动力学特性的影响,同时提出几种抑制柔性臂振动的方法。为研究柔性机械臂的振动稳定性、结构设计与结构参数优化提供了依据。A flexible arm is a highly nonlinear and strongly-coupled dynamics system. Based on the assumption mode method and the Lagrange equation, the dynamic model of the flexible arm is established. Numerical simulation illustrates that the system has enough precision with the first three-orders mode. The impact of different structures on the dynamics performance of the flexible arm such as physical parameters and the driving moment are discussed. In addition, methods for restraining the vibration are suggested.

关 键 词：柔性机械臂 模态分析 动力学建模 

分 类 号：TH113.1[机械工程—机械设计及理论]