大范围运动条件下的刚柔混合机械臂动力学分析  

Dynamic analysis of rigid-flexible manipulators undergoing a large overall motion condition

作　　者：韩清鹏[1] 高培鑫[2] 

机构地区：[1]辽宁科技大学机械工程与自动化学院,辽宁鞍山114051 [2]东北大学机械工程与自动化学院,辽宁沈阳110004

出　　处：《机械设计》2013年第2期27-31,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(10972192)

摘　　要：建立了刚-柔混合两杆机械臂的动力学方程,并进行了数值仿真,分别讨论了在大范围运动已知条件下和大范围运动未知条件下,刚-柔混合机械臂的动力学响应。在大范围运动未知条件下,又讨论了刚性机械臂和柔性机械臂的运动对系统动态响应的影响。The dynamic equations of rigid-flexible two-links manipulators were established and the numerical simulation was car- ried out, the dynamic response of two-link rigid-flexible manipula- tors with known and unknown large motion conditions had been studied respectively. The effect of rigid and flexible manipulators on the system dynamic response is also discussed undergoing an un- known large overall motion condition.

关 键 词：刚-柔混合动力学 机械臂 动态响应 

分 类 号：O313.7[理学—一般力学与力学基础]