农业机械学报2012，Vol.43Issue(2)：211-215,225,6.DOI:10.6041/j.issn.1000-1298.2012.02.040
综合关节和杆件柔性的机械臂刚柔耦合建模与仿真
Dynamics and Simulation of Rigid-flexible Coupling Robot Arm with Flexible Joint and Link
摘要
Abstract
For the flexible manipulator, rigid-flexible coupling dynamics model was established based on the Lagrangian equations by regarding the flexible joint as a non-linear torsional spring model. Assumed model method was used to transform physical coordinate to modal coordinate. ADAMS was adopted to build virtual prototype for simulation of link flexibility. A Runge - Kutta algorithm was programmed by Matlab to solve dynamics equations considering both link and joint flexibility. Aiming at simulation of manipulators swing under the gravity and driving torque, tip deformation and angle under different loads were given. Coupling characteristics of the joint and link flexibility were studied. Results showed that joint flexibility could not be ignored. The vibration range of manipulator under coupling of the joint and link flexibility was less than sum of individual flexibility vibration. Vibration mode was determined by the joint and link flexibility jointly, but amplitude was mainly influenced by driving torque. The dynamics and solving method were proper.关键词
机械臂/关节柔性/动力学/刚柔耦合/仿真Key words
Manipulator/ Flexible joint/ Dynamics/ Rigid-flexible coupling/ Simulation分类
机械制造引用本文复制引用
王斌锐,方水光,金英连..综合关节和杆件柔性的机械臂刚柔耦合建模与仿真[J].农业机械学报,2012,43(2):211-215,225,6.基金项目
国家自然科学基金资助项目(50905170)、浙江省自然科学基金资助项目(Y1090042)、机器人学国家重点实验室开放基金资助项目(RL0200918)和浙江省新苗人才计划资助项目(2011R409036) （50905170）
