柔性机械臂动力学建模研究进展  

Research Progress on Dynamics Modeling of Flexible Robotic Arms:A Review

作　　者：方虹斌 郑立 张琦炜[1,2] 郭丁旭 张舒[3] 徐鉴 Fang Hongbin;Zheng Li;Zhang Qiwei;Guo Dingxu;Zhang Shu;Xu Jian(Institute of Intelligent Robotics,Fudan University,Shanghai 200433,China;Yiwu Research Institute,Fudan University,Yiwu,Zhejiang 322000,China;School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)

机构地区：[1]复旦大学智能机器人研究院,上海200433 [2]复旦大学义乌研究院,义乌322000 [3]同济大学航空航天与力学学院,上海200092

出　　处：《动力学与控制学报》2023年第12期5-21,共17页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(11932015,12272096);上海市基础研究特区计划项目(21TQ1400100-22TQ009)。

摘　　要：刚性机械臂由于其较高的工作精度和重复性、较强的承载能力,已广泛应用于危险或相对单一、重复性高工作场景.但刚性机械臂的结构及运作方式不够灵活,无法适用于不定型、非标准、狭窄空间等生产场景.最近几年,柔性机械臂因其结构柔性、作业空间大、人机交互安全等优点而受到广泛关注,有希望应用于医疗、服务和智能制造等领域.但柔性机械臂结构柔软,运动比较自由,在作业过程中柔性效应不可忽略,这对其高精度控制提出了重大挑战.柔性机械臂控制的核心科学问题之一是建立包含结构柔性特征和动态特性的高精度动力学模型.为此,本文对柔性机械臂运动学建模和动力学建模研究进行了综述.作为动力学建模的基础,本文首先综述了柔性机械臂的运动学建模方法,主要介绍了曲率法、伪刚体运动学(PRB)方法、基于Cosserat杆的运动学建模方法、结构几何分析方法、Denavit-Hartenberg(D-H)法及坐标法、数据驱动和机器学习方法等.随后,本文详细综述了柔性机械臂的动力学建模方法,主要包括集中参数系统法、假设模态法、有限元法.最后,本文简述了目前柔性机械臂动力学研究的主要内容,并对未来研究做出展望.Rigid robotic arms have been widely used in risky or single,repetitive work situations due to their high work accuracy and repeatability,and strong load bearing capacity.However,the structure and operation of rigid robotic arms are not flexible enough to be applied to some production scenarios such as unstructured,non-standard,and confined spaces.In recent years,flexible robotic arms have attracted widespread attention due to their structural pliability,extensive operational space,and safety of human-machine interaction,with promising applications in the fields of medical,service,and intelligent manufacturing.However,the soft structure and free movement of flexible robotic arms mean that their flexural effects cannot be ignored during operations,posing significant challenges for high-precision control.One of the core scientific problems in the control of flexible robotic arms is the establishment of high-precision dynamic models that incorporate structural flexibility features and dynamic characteristics.To this end,this paper reviews the research on the kinematic modeling and dynamic modeling of flexible robotic arms.As a foundation for dynamic modeling,this paper firstly summarizes the kinematic modeling methods of flexible robotic arms,mainly introducing the curvature method,Pseudo-Rigid Body(PRB) kinematics,kinematic modeling based on Cosserat rods,structural geometry analysis,Denavit-Hartenberg(D-H) method and coordinate method,and data-driven and machine learning approaches.Subsequently,the paper provides a detailed overview of dynamic modeling methods for flexible robotic arms,primarily including the lumped parameter system method,assumed modes method,and finite element method.Finally,this paper outlines the main content of flexible robotic arm dynamics research and offers prospects for future studies.

关 键 词：柔性机械臂 机器人运动学 机器人动力学 动力学模型 多体动力学 

分 类 号：O313.7[理学—一般力学与力学基础]