机器人柔性手臂的动力学有限元分析

本文将弹性动力学虚功原理推广到机器人柔性动力学,建立了计及关节弹性和关节阻尼的柔性手臂有限元动力学模型,模型中包括了非线性刚体运动和弹性变形间的耦合。文中还导出了手臂参考坐标系间的运动学递推关系。本文方法推演简单、计算效率高,能够用于具有任意复杂部件的柔性机器人动力学分析。

FINITE ELEMENT DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATOR ARMS

The principle of virtual work in dynamies of elastic systems is extended to apply on dynamics of flexible manipulators. And the finite element dynamics models including the elasticity and viscous damping at joints are established. The non-linear rigid-body motions and elastic deformation coupling terms are included in the models. Kinematic relations of the coordinate systems on links are reduced to recursive form. The present method is simple in derivation, efficient in calculation, and may be used for analyzing the complete behaviour of robotic manipulators with complex-shape flexible links.