基于EFEM的5R机械臂刚柔耦合动力学分析  

Dynamics analysis on the rigid-flexible coupled multi-body system of 5R manipulator based on EFEM

作　　者：车仁炜[1] 陆念力[1] 薛渊[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2015年第11期1504-1508,共5页Journal of Harbin Engineering University

基　　金：黑龙江省自然科学基金资助项目(E201433)

摘　　要：为分析复杂机械系统动力学特性,将系统划分为含有限刚性构件的刚柔耦合系统,基于等效元素集成法,对构件自身的动力学特性进行等效,组建成等效系统。将建模的关键归结为系统中二阶转换张量和相应的三阶转换张量的求解以及系统质量阵的组装,然后,按多柔体动力学的方式建立方程。建立了港口起重机5R机械臂刚柔耦合动力学模型,给出了动力响应曲线,并与刚性解进行了比较。结果表明,采用EFEM方法,动力学方程维数减少,系统质量阵阶数降低,模型建立简单快捷,规范化、程式化,解题效率和精度较高。In order to analyze the dynamic characteristics of a complex mechanical system, the system was divided into a rigid-flexible eoupled multi-body systems with finite rigid members. The dynamic characteristics of each com- ponent was equivalent to system on the basis of equivalent finite element integrated method（EFEM）. The key points to build the dynamics model were setting up two-stage tensor and three-stage tenser and assembling the equivalent mass matrix. Then, the equations were established according to multi-flexible-body dynamics. A 5R rigid-flexible coupled mechanics model of a port crane boom was built and the dynamics response curves were derived then com- pared with the rigid solution. The dimensions of the dynamic equation and the orders of the system mass matrix were greatly reduced. The process of building a dynamics model is simple, standardized, programmed, and the solution efficiency and precision are very high.

关 键 词：刚柔耦合 等效元素集成法 转换张量 等效质量阵 5R机械臂 

分 类 号：TH132.4[机械工程—机械制造及自动化]