一种双连杆柔性臂动力学模型的研究  

Research on Dynamic Modeling for Flexible Link Manipulators

作　　者：李冬宁[1,2] 赵雁[1] 沈铖武[1] 刘畅[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院研究生院,北京100039

出　　处：《测控技术》2009年第12期40-43,共4页Measurement & Control Technology

摘　　要：针对末端位置受约束的双连杆柔性机械臂,通过哈密顿原理得到系统的分布参数模型,推导了描述关节角,柔性杆振动和接触力之间关系的动力学模型。根据3个假设条件推导柔性臂简化的集中参数动力学模型及准静态方程,利用了计算力矩法设计的控制器对模型进行控制,通过Matlab进行仿真,利用Matlab的符号运算功能,编制M文件实现数学模型自动推导,整个建模和运算过程简单、直观和高效,并绘制了参数轨迹图像,验证了模型的有效性,已应用到小波神经网络控制算法研究中。The dynamic modeling for planar two flexible link manipulators is discussed. A numeric model based on the Hamilton＇ s principle is obtained, which describes a distributed parameter model and dynamic equations of joint angles, vibration of flexible links and contact force of constrained planar two flexible link manipulators. On the basis of three assumptions, the dynamic model and quasi-static equations are derived, to test the validity of the model, using controller to control the model, through simulation with Matlab software. The research also provides theoretic instructions for developing dynamic control system with flexible manipulators.

关 键 词：柔性机械臂 分布参数模型 哈密顿原理 准静态 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]