轮式移动单杆柔性机械手逆动力学研究与仿真  

Research and Simulation of Inverse Dynamics of a Wheeled Mobile Single Link Flexible Manipulator

作　　者：杨玉维[1] 张明路[2] 赵新华[1] 孟广柱[2] 李彬[1] 

机构地区：[1]天津理工大学机械工程学院,天津300384 [2]河北工业大学机械工程学院,天津300130

出　　处：《机械工程学报》2010年第21期76-81,共6页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划;2006AA04Z221;2007AA04Z203);国家自然科学基金(50675156);天津市应用基础与前沿技术研究计划重点(07JCZDJC09100)资助项目

摘　　要：针对轮式单杆平面柔性移动机械手逆动力学问题进行系统研究。建立在欧拉—伯努力梁理论基础上,采用铰接—自由端边界条件,并引用Hermit插值函数作为单元形函数对柔性机械手进行有限元离散。综合利用虚功原理和牛顿—欧拉方程并在机械手体坐标系下,以矩阵、矢量简洁的形式构建该移动柔性机械手系统的完整逆动力学模型。在频域下,求解系统驱动力(矩)和弹性构型变量。该方法适用于对移动柔性轻质机械手末端执行器有高精度定位要求的动力学研究,并对系统开环控制和闭环控制的策略构建有着重要参考意义。The inverse dynamics modeling of a wheeled mobile single link flexible planar manipulator（WMSLFPM） is presented. Based on Bernoulli-Euler beam theory and under pin-free boundary conditions,the single link flexible manipulator is discretized. The system inverse dynamic model of the WMSLFPM,which is derived by using finite elements by virtue of Hermit interpolation function and Newton-Ouler equations and virtual principle,is concisely described in terms of matrices and vectors measured with respect to a body frame of reference. The numeric simulations are carried out to the inverse dynamic model of a WSMSLFPM in the frequency domain to get the driving torque/force and elastic configuration variables. This technique is suitable for the study on the inverse dynamics of mobile flexible manipulators under the conditions of high precision at the tip of light flexible arms and for building up both open-loop control and closed-loop control strategies.

关 键 词：轮式移动单杆柔性机械手 逆动力学 有限元 频域 

分 类 号：TH12[机械工程—机械设计及理论]