变体衍架伸缩臂柔体动力学仿真  

Flexible dynamics simulation of variant truss adjustable arm

作　　者：曲东升[1] 田国祯[1] 刘彦武[1] 李娟[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150080

出　　处：《机械设计与制造》2010年第5期111-112,共2页Machinery Design & Manufacture

摘　　要：变体衍架伸缩臂在水平方向工作时,刚度随着伸缩位置的变化而微量变化,产生末端下沉和振动,并在非运动轴产生附加耦合运动量,影响动力学特性及精度。采用刚柔混合仿真方法对其进行研究,分析影响其末端下沉和振动的主要因素,对其进行优化设计,提高了变体衍架伸缩臂的动力学特性。When Variant truss adjustable arm works in the horizontal direction,the stiffness changes with the stretching position,which causes sinking and vibration and generate additional coupling motion in non-sports-axis,and this impact dynamics and precision.Rigid-flexible hybrid simulation approach is used to study it,then analyze the main factors of the impact of sinking and the vibration and optimize the design,which improves dynamics of variant truss adjustable arm.

关 键 词：变体衍架伸缩臂 柔体 动力学仿真 

分 类 号：TH16[机械工程—机械制造及自动化]