农业工程学报2012，Vol.28Issue(7)：51-56,6.DOI:10.3969/j.issn.1002-6819.2012.07.009
机器人倾倒碰撞动力学建模与不同刚度下碰撞响应
Dynamics modeling of slipping collision of robot and impact response under different stiffness
摘要
Abstract
In order to ascertain the affect of stiffness on slipping collision of flexible arm, the kinematics model was established by hybrid coordinate method, and flexible deformation was decoupled by using the assumed modes. Contact-impact model was established by using the Hertz impact theory and nonlinear spring-damper theory, collision dynamics of flexible arm was derived through Lagrange equations. The fourth-order Runge-Kutta numerical solution algorithm with variable step-size and precision was designed for solving dynamical equation. Simulation of the impact responses of flexible arm collision under different stiffness were completed, and curves of contact force, joint angle, angle velocity and elastic deformation were given. Based on comparative analysis, with bending stiffness increasing, contact force enlarged and the phase of peak force advanced, the flexible arm joint angle turned smaller, vibration of elastic deformation and angular velocity became lower. Material structural damping had obvious inhibition on the elastic deformation vibration. The model and solving algorithm of this paper are proved effective.关键词
机器人/柔性结构/动力学模型/接触碰撞/假设模态/刚柔耦合/刚度Key words
robots/flexible structures/dynamic models/contact-impact/assumed modes/rigid-flexible coupling/stiffness分类
信息技术与安全科学引用本文复制引用
王斌锐,严冬明,方水光,金英连..机器人倾倒碰撞动力学建模与不同刚度下碰撞响应[J].农业工程学报,2012,28(7):51-56,6.基金项目
国家自然科学基金资助项目(No.50905170) （No.50905170）
浙江省自然科学基金资助项目(No.Y1090042) （No.Y1090042）
机器人学国家重点实验室开放基金资助项目(No.RL0200918) （No.RL0200918）
