| 链状柔性多体机器人系统动力学研究 |
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| 引用本文： | 潘振宽 洪嘉振. 链状柔性多体机器人系统动力学研究[J]. 固体力学学报, 1993, 14(4): 323-329 |
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| 作者姓名： | 潘振宽 洪嘉振 |
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| 作者单位： | 上海交通大学，上海交通大学，上海交通大学 上海 200030，上海 200030，上海 200030 |
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| 基金项目： | 国家自然科学基金，上海市青年科技基金 |
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| 摘 要： | 本文基于Ｊｏｕｒｄａｉｎ变分原理建立了具有链状拓扑结构柔性多体机器人系统动力学通用模型，用在一致质量有限单元法及正则模态分析基础上引入的模态坐标描述构件的弹性形，用独立坐标描述相邻板件间的大位移运动，每个铰容许１－６个自由度，组强非线性惯性耦合的封闭形式的系统动力学微分方程组，文末对单弹性臂和双弹性臂机器人操作手进行动力学仿真。
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| 关 键 词： | 链 柔性多体 机器人 动力学 |
DYNAMICS OF FLEXIBLE MULTIBODY MANIPULATORS WITH CHAIN STRUCTURE |
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| Pan Zhenkuan Hong Jiazhen Liu Yanzhu. DYNAMICS OF FLEXIBLE MULTIBODY MANIPULATORS WITH CHAIN STRUCTURE[J]. Acta Mechnica Solida Sinica, 1993, 14(4): 323-329 |
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| Authors: | Pan Zhenkuan Hong Jiazhen Liu Yanzhu |
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| Abstract: | In this paper,the general dynamic model of flexible multibody manipulators with chain structure isbuilt up by using Jordan's principle.The model coordinates introduced through consistent finite elementmethod and vibration normal mode analysis are used of describe the deformations of deformable links,the independent joint coordinates are used to describe the large displacements between contiguousbodies,every joint may contain 1-6 degrees of freedom.The result is a set of inertia coupled differentialequations of motion with strong nonlinearity in closed form.Finally,two numerical examples are pres-ented for manipulators with one flexible link and two flexible links. |
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| Keywords: | chain flexible multibody system the dynamies of manipulators |
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