四川大学学报：工程科学版2012，Vol.44Issue(4)：214-220,7.
一种空间柔性机械臂接触动力学仿真的模型降阶方法
A Model Order Reduction Method for Impact-contact Dynamics Simulation of Flexible Space Robotic Manipulator
乔兵 1吴晓健1
作者信息
- 1. 南京航空航天大学航天学院,江苏南京210016
- 折叠
摘要
Abstract
A new method of model order reduction for impact-contact dynamics simulation of space robotic manipulator was proposed. The impact-contact dynamics model of space robotic manipulator was constructed through the rigid body approximation method and Herz impact-contact force model. The corresponding state space equation of the space robotic manipulator was obtained by the linearization to the impact-contact dynamics model at the reference point. Then the eigenvalues of this linearized state space equation were solved to deal with the model order reduction of the system in which the eigenvalues with larger negative real part were disregarded because these eigenvalues usually represent the rapidly decayed modal responses with high ftfiquencies. An example of 3 - DOF planar robotic manipu- lator conducting contact manipulation was presented to verify the feasibility and efficiency of the proposed model order reduction method关键词
空间机器人/接触碰撞/动力学模型/模型降阶Key words
space robotic manipulator/impact-contact/dynamics model/model order reduction分类
机械工程引用本文复制引用
乔兵,吴晓健..一种空间柔性机械臂接触动力学仿真的模型降阶方法[J].四川大学学报：工程科学版,2012,44(4):214-220,7.
