刚柔耦合柔性机械手二阶理论精准建模及实验研究  

Second-order Accurate Modeling and Experimental Studies of Rigid-flexible Coupled Flexible Manipulator

作　　者：赵燕[1] 阮成明 王松伟[1] 

机构地区：[1]武汉理工大学机电工程学院,武汉430070

出　　处：《中国机械工程》2018年第2期205-210,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(11202153)

摘　　要：基于动边界条件和三种变形理论,选取Euler-Bernoulli梁模型,采用假想模态法并结合拉格朗日方程建立了双关节柔性机械手的精准动力学模型。根据理论计算仿真结果分析了动边界条件和变形理论对双关节柔性机械手理论建模精准性的影响,并通过实验对比双关节柔性机械手在不同动边界下理论模型和实验条件下的模态频率,验证了转动自由梁模型与实际工况更为贴近。Based on dynamic boundary conditions and three deformation theories,aprecise dynamics model of double-joint flexible manipulators with pseudo-modal method and Lagrangian method was established by Euler-Bernoulli beam model.Influences of the dynamic boundary conditions and deformation theory on theoretical modeling accuracy of the double-joint flexible manipulators were analyzed according to theoretical simulation results.It is verified that the model of rotating free beam is closer to the actual working conditions,by comparisons of double-joint flexible manipulator's modal frequencies of the experimental results and those from the theoretical model under different dynamic boundary conditions.

关 键 词：柔性机械手 刚柔耦合 精准建模 动边界条件 变形理论 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]