基于绝对节点坐标法的柔性双臂机构动力学分析  

Dynamic Analysis of Two-Link Flexible Manipulators Based on the Absolute Nodal Coordinate Formulation

作　　者：赵君[1] 余海东[2] ZHAO Jun YU Haidong(School of Automation Engineering, Northeast Dianli University, Jilin 132012, Jilin, China School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China)

机构地区：[1]东北电力大学自动化工程学院,吉林吉林132012 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《上海交通大学学报》2017年第10期1160-1165,共6页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金项目(51275292)资助

摘　　要：基于绝对节点坐标法对具有变截面特征的柔性双臂机构进行了动力学分析.通过将边界函数引入到质量矩阵和刚度矩阵的积分上下限,建立了新型变截面梁单元模型.基于牛顿方程建立了柔性双臂机构的动力学模型.通过数值仿真案例,分析了材料特性及几何参数对柔性双臂机构动力学性能的影响.结果表明:材料弹性模量的增长可提高结构刚度减少结构变形;保证机械臂质量不变可通过改变截面形状来减少结构变形,提高运动精度.A dynamic model of the flexible manipulator with variable cross-section is established based on the absolute nodal coordinate formulation. Variable boundary conditions of the link are described with some functions which are used as the upper and lower limits in the integrations to calculate mass matrix and stiffness matrix of the element. With these matrices the dynamic model of the manipulator is proposed by using the Newton equations. Manipulators with different materials and variable cross-sections are em- ployed in the numerical simulations. Results show that the increase of elastic modulus can improve the stiffness of structure and reduce its deformation. Kinematic accuracy of the structure can be improved by optimizing cross-section shape without changing its mass.

关 键 词：柔性杆机构 变截面 动力学性能 绝对节点坐标法 

分 类 号：TH132[机械工程—机械制造及自动化]