自由漂浮柔性机械臂系统的动力学建模与仿真  

Dynamic Modeling and Simulation of a Free-floating Flexible Manipulator System

作　　者：廖一寰[1] 李道奎[1] 唐国金[1] 

机构地区：[1]国防科技大学航天与材料工程学院,湖南长沙410073

出　　处：《国防科技大学学报》2010年第5期29-33,共5页Journal of National University of Defense Technology

基　　金：教育部新世纪优秀人才支持计划资助项目(NCET-08-0148)

摘　　要：动量矩守恒约束使自由漂浮柔性机械臂系统成为非完整系统,其动力学模型通常是难以求解的微分—代数方程,因此提出将机械臂系统等效为一个完整系统进行建模。假设载体存在姿态控制力矩,此时由于不存在动量矩守恒约束,系统变成一个完整系统,采用Lagrange方法建立其动力学方程;令方程中载体的姿态控制力矩为零,即得到自由漂浮机械臂系统的动力学方程;采用数值方法求解动力学方程,并将动力学分析的结果与ADAMS中仿真的结果进行对比,验证了模型能够有效模拟自由漂浮柔性机械臂系统的动力学特性。Free-floating flexible manipulator system has become a nonholonomic system subject to the constraints of the conservation of angular momentum.The dynamic model of the nonholonomic system is usually the differential algebraic equation which is difficult to solve.So the free-floating system is translated into holonomic system in this research.First,the attitude of carrier was supposed to be controlled by torques.As a result,the system turned to be holonomic because the constraint of the conservation of angular momentum need not be satisfied,and the dynamic equations of the holonomic system were deduced based on Lagrange method.Second,the dynamic equations of free-floating system were obtained by putting the attitude control torques into zero.Finally, the dynamic equations were solved with numerical method.The numerical result is compared with the simulation result in ADAMS and the effective of the model for free-floating flexible manipulator system is verified.

关 键 词：柔性机械臂 动力学建模 非完整约束 ADAMS 

分 类 号：V414.9[航空宇航科学与技术—航空宇航推进理论与工程]