柔性臂动力学建模与规划角加速度抑振研究  

Flexible Arm Dynamics Modeling and Research on Angular Acceleration Vibration Suppression

作　　者：殷玉枫[1] 武奎扬 张锦 YIN Yu-feng;WU Kui-yang;ZHANG Jin(School of Mechanical Engineering,Taiyuan University of Science and Technology,Shanxi Taiyuan 030024,China;Shanxi Traffic Vocational and Technical College,Shanxi Taiyuan 030031,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024 [2]山西交通职业技术学院,山西太原030031

出　　处：《机械设计与制造》2022年第6期249-253,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(U1610118)。

摘　　要：以双连杆柔性臂为研究对象,利用Hamilton变分原理建立微分方程,采用假设模态法描述柔性臂的变形,进而对微分方程进行离散化处理,从而得到考虑动力刚化效应的柔性臂动力学模型。以抑制柔性臂振动为目的,将多项式插值与正弦-梯形基函数相结合,构造出计算简便、平稳连续且收敛较快的叠加曲线作为新的角加速度规划曲线。利用关节变量与模态坐标的关系,将振动抑制问题转变为减小模态坐标响应问题。分别构造多项式插值规划函数和优化角加速度函数,对动力学模型进行数值仿真。仿真结果表明,角加速度经过规划后柔性臂的弹性振动大幅度减小,对于复杂多杆柔性臂系统抑振研究具有较大价值。Taking the double-link flexible arm as the research object,theHamiltonian variational principle is used to establish the differential equation.The hypothetical modal method is used to describe the deformation of the flexible arm,and then the differential equation is discretized to obtain a dynamic model that takes into account the dynamic stiffness effect.In order to suppress the vibration of the flexible arm,a polynomial interpolation and a sine-trapezoid basis function are combined to construct a superposition curve that is simple to calculate,Stable,continuous,and fast to converge as a new angular acceleration planning curve.Using the relationship between joint variables a.A polynomial interpolation planning function and an optimized angular acceleration function are constructed respectively,and the dynamic model is numerically simulated.The simulation results show that the elastic vibration of the flexible arm is greatly reduced after the angular acceleration is planned,which is of great value for the research on the vibration suppression of a complex multi-rod flexible arm system.

关 键 词：柔性臂 动力刚化 假设模态 加速度规划 弹性振动 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]