噪声与振动控制Issue(6)：7-11,5.DOI:10.3969/j.issn.1006-1335.2014.06.002
柔性机械臂建模及动力学特性分析
Modeling and Dynamic Characteristic Analysis of Flexible Robotic Arm
摘要
Abstract
Taking humanoid rigid-flexible coupling robotic arm with three rotating joints as the object, the dynamic model of the flexible part of the robotic arm is established and its dynamic characteristic is analyzed. For improving the accu-racy of the model, the finite segment method is used to analyse the intrinsic frequencies and vibration-mode functions of the flexible part of the robotic arm with different boundary conditions. The gravity effect is considered and the modal-assump-tion method and Hamilton’s principle are used to describe the deformation of the flexible shaft. Introducing the angular func-tion of the joints, the 4th order Runge-Kutta method is utilized to solve the time-varying non-linear differential equations by means of MATLAB code. The residual oscillation of the loaded flexible arm end is derived. This research has provided a foundation for refinement of the flexible robotic arm model and for the active control of the residual oscillation.关键词
振动与波/柔性机械臂/模态分析/弹性变形/动力学建模/振动分析Key words
vibration and wave/flexible robotic arm/modal analysis/elastic deformation/dynamic model/oscilla-tion analysis分类
数理科学引用本文复制引用
刘旭亮,黄玉平,崔佩娟,徐祯祥..柔性机械臂建模及动力学特性分析[J].噪声与振动控制,2014,(6):7-11,5.基金项目
863项目机电作动子系统关键技术攻关及研制 （）
