压电型柔性机械臂动力学建模研究  

Research on Dynamic Modeling of Piezoelectric Flexible Manipulator

作　　者：曹青松[1] 黎林[1] 张敏[1] 

机构地区：[1]华东交通大学载运工具与装备教育部重点实验室,南昌330013

出　　处：《煤矿机械》2010年第4期48-51,共4页Coal Mine Machinery

基　　金：江西省研究生创新资金项目(YC08A073);江西省教育厅科技项目(GJJ10445)

摘　　要：以压电双杆柔性臂为研究对象,采用Euler-Bernoulli梁模型简化机械臂,运用假设模态法描述弹性变形,将压电元件对臂的作用等效为一驱动力矩,依据拉格朗日方程推导耦合动力学方程,并利用Newmark法进行迭代求解。仿真与实验验证了动力学模型的有效性,模型具有准确、简单等特点,为后续振动控制的实施奠定了理论基础。According to two-link Euler-Bernoulli beam model, the action that piezoelectric element piezoelectric flexible manipulator, the manipulator was elastic deformation was on flexible manipulator described by assumed modes was equivalent to a driving reduced to method, the torque. The coupled dynamic equation was derived by lagrange equation, and it was iteratively solved by Newmark method. The dynamic model was verified to be true by simulation and experimental results, and the model had the advantages of accurate and simple, thus laid a foundation for the follow-up implementation of vibration control.

关 键 词：柔性机械臂 压电元件 动力学建模 拉格朗日方程 NEWMARK法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]