中国机械工程2017，Vol.28Issue(23)：2792-2799,8.DOI:10.3969/j.issn.1004-132X.2017.23.004
轻型操作臂结合部弹性约束动力学特性及实验研究
Dynamics Properties and Experimental Investigations for Light Manipulators with Elastic Restraint Joints
摘要
Abstract
The dynamics properties of flexible manipulator systems with elastic restraint joints were investigated.Firstly,an elastic restraint model with the linear restraints was established,and then,the frequency equation was subsequently derived.Secondly,based on the established elastic re-straint model and Hamilton principle,the vibration displacement equation was derived.Finally,the dynamics properties of the flexible manipulator elastic restraint systems were analyzed using theoreti-cal simulation and experimental approach,and the influence mechanism of elastic restraints on the dy-namics were revealed.The results show that the established model may describe the elastic restraints of joints,particularly for higher order modes.Moreover,in the defined elastic restraint regions,the relationship of the frequency and the restraint stiffness has the characteristics of power function,and the fitting errors for the first two order frequencies are small than 0.08% and 0.45%,respectively,and the a-nalysis errors for the vibration displacements are as 2.38%,which were verified experimentally.关键词
轻型操作臂/结合部/弹性约束/动力学Key words
light manipulator/joint/elastic restraint/dynamics分类
机械制造引用本文复制引用
刘玉飞,张席,李威,许德章..轻型操作臂结合部弹性约束动力学特性及实验研究[J].中国机械工程,2017,28(23):2792-2799,8.基金项目
国家自然科学基金资助项目(51305444) （51305444）
安徽高校自然科学研究项目(KJ2017A118) （KJ2017A118）
安徽省科技攻关计划资助项目(1604a0902125、1604a0902183) （1604a0902125、1604a0902183）
芜湖市科技计划资助项目(2016cxy03) （2016cxy03）
安徽工程大学大学引进人才科研启动基金资助项目(2016YQQ012) （2016YQQ012）
