柔性机械臂动力学方程单向递推组集方法

本文基于Jourdain变分原理提出一种柔性机械臂动力学方程的单向递推组集方法。用规则标号法描述系统中物体和铰的邻接关系;用铰相对坐标和模态坐标分别描述物体的大位移运动和弹性变形。文末以三连杆机器人操作手为例说明本文建模的过程。

A SINGLE DIRECTION RECURSIVE CONSTRUCTION METHOD FOR DYNAMIC EQUATIONS OF FLEXIBLE MANAPULATORS

In this paper, a new recursive technique for construction of dynamic equations of flexible manapulators is suggested based on the Jourdain's principle. The structure of the system is described through regular labelling method; The joint relative coordinates and modal coordinates are used to describe the large displacements between contiguous bodies and small deformations of bodies. At first, the recursive kinematic relations are derived, and in every step of recursion, contributions of every body to the generalized mass matrix and generalized force matrix are formed through calling the body's mass matrix and force matrix in absolute coordinates. Finally, the method in this paper is demonstrated through an example of a manapulator with three flexible links.