南京理工大学学报（自然科学版）2012，Vol.36Issue(1)：182-188,7.
带有载荷的柔性杆柔性铰机器人刚柔耦合动力学分析
Rigid-flexible Coupling Dynamics of Flexible-link and Flexible-joint Robots Carrying Payload
摘要
Abstract
To study the influence of the flexible joint and the tip mass on the robot motion response when the flexible robot is in overall motion, the rigid-flexible coupling model of a flexible robot carrying a payload is presented. The flexibility of the flexible joint is modeled as a linearly elastic torsional spring and the mass of the joint is also considered here. Both the transversal deformationand the longitudinal deformation of the flexible link are considered. The nonlinear coupling term,also known as the longitudinal shortening caused by transversal deformation, is considered in the total longitudinal deformation. The approach of assumed modes is used to describe the deformation of the flexible link. The rigid-flexible coupling dynamic equations of the flexible-link and flexible-joint robot carrying a payload are established via employing the second kind of Lagrange's equation. The dynamics of the flexible robot is obtained by solving this mathematical model. Comparing a flexible-link and flexible-joint robot carrying a payload with a flexible-link and flexible-joint robot without payload, we can find that the payload increases the response amplitude, but decreases the response frequency. Comparing a flexible-link and flexible-joint robot with a flexible-link and rigid-joint robot, we can also find that the flexibility of the joint increases the response amplitude, but decreases the response frequency, too.关键词
柔性杆柔性铰机器人/载荷/刚-柔耦合/动力学Key words
flexible-link and flexible-joint robots/ payloads/ rigid-flexible coupling/ dynamics分类
数理科学引用本文复制引用
陈思佳,章定国..带有载荷的柔性杆柔性铰机器人刚柔耦合动力学分析[J].南京理工大学学报（自然科学版）,2012,36(1):182-188,7.基金项目
国家自然科学基金(10772085 （）
11132007) （）
江苏省"青蓝工程" （）
南京理工大学自主科研专项计划(2011YBXM32) （2011YBXM32）
