| 机器人粘弹性手臂的动力学有限元分析 |
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| 引用本文： | 范子杰,顾崇衔.机器人粘弹性手臂的动力学有限元分析[J].力学学报,1992,24(2):180-190. |
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| 作者姓名： | 范子杰 顾崇衔 |
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| 作者单位： | 吉林工业大学 |
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| 摘 要： | 本文用动力学虚功原理建立了一般粘弹性大阻尼结构机器人手臂的动力学有限元模型,该模型是时变的Voterra型微分积分方程。文中还提出了以结构动力学中响应计算的逐步积分法为基础的递推求解方法,从而解决了机器人粘弹性手臂动力学建模和分析的理论难题。
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| 关 键 词： | 机器人 柔性手臂 振动控制 |
FINITE ELEMENT DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATOR ARMS WITH VISCOELASTICDAMPING |
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| Fan Zijie.FINITE ELEMENT DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATOR ARMS WITH VISCOELASTICDAMPING[J].chinese journal of theoretical and applied mechanics,1992,24(2):180-190. |
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| Authors: | Fan Zijie |
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| Abstract: | A general approach, based on the principle of virtual work in dynamics,is presented for dynamic analysis of flexible manipulator arms with viscoelastic damping, and the finite element dynamic equations which are time-dependent differential-integral equations are developed. A recurrence formulation for numerical integration of the equations is obtained. |
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| Keywords: | bobot multibody system flexible viscoelastic damping vibration control |
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