| 柔性机械臂碰撞系统的一种建模方法及精细积分数值模拟 |
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| 引用本文： | 赵玉立,邓子辰.柔性机械臂碰撞系统的一种建模方法及精细积分数值模拟[J].应用力学学报,2004,21(4):80-83. |
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| 作者姓名： | 赵玉立 邓子辰 |
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| 作者单位： | 1. 西北工业大学,西安,710072
2. 西北工业大学,西安,710072;大连理工大学,大连,116023 |
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| 基金项目： | 国家自然科学基金 (19872 0 5 7)，霍英东青年教师基金 (710 0 5 )，航空基金 (0 0B5 3 0 0 6)，大连理工大学工业装备结构分析国家重点实验室开放基金，西北工业大学博士创新基金 |
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| 摘 要： | 对一单连杆柔性机械臂与外界发生碰撞时的动力学特性进行了研究。在建立动力学模型时，利用有限元思想，用有限个刚性单元和抗扭连接弹簧来模拟机械臂及其柔性性质，得出了较为简单的非线性动力学方程，根据几何关系，建立了系统在发生碰撞时的约束条件。本文在系统的动力学方程中引入对偶变量，并将方程导向Hamilton体系，用精细积分法对系统的动力学特性进行了模拟。
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| 关 键 词： | 柔性机械臂 碰撞 精细积分法 |
| 文章编号： | 1000-4939(2004)01-0080-04 |
Model for the Impact System of Flexible Mechanical Arm and Numerical Simulation of Precise Integration |
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| Zhao Yuli,Deng Zichen.Model for the Impact System of Flexible Mechanical Arm and Numerical Simulation of Precise Integration[J].Chinese Journal of Applied Mechanics,2004,21(4):80-83. |
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| Authors: | Zhao Yuli Deng Zichen |
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| Institution: | Zhao Yuli 1 Deng Zichen 1,2 |
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| Abstract: | The dynamic properties are studied for a one-link flexible mechanical arm with contact-impact. For establishing the dynamic model of the system, based on the finite element conception, some rigid elements and torque springs are used to simulate the flexible mechanical arm, subsequently, a simple nonlinear dynamic equation is obtained. According to the geometry relation of the system, the constraint conditions are established as the impact occurs, then by introducing the dual vector of the original variable into the dynamic equation, the system is transformed into Hamilton system, where the precise integration method is suitable for solving the dynamic equation, and finally used to complete the dynamic properties of the impact system of flexible mechanical arm. |
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| Keywords: | flexible robotic arm impact the time precise integrate method |
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