噪声与振动控制2018，Vol.38Issue(2)：45-49,5.DOI:10.3969/j.issn.1006-1355.2018.02.010
考虑电机绕组特性的柔性机械臂动力学建模
Dynamic Modeling of Flexible Manipulators Considering the Characteristics of Motor Winding
张洪 1陈一鸣 1王通德2
作者信息
- 1. 江南大学 机械工程学院 江苏省食品先进制造装备技术重点实验室,江苏 无锡214122
- 2. 国网电力科学研究院 江苏南瑞恒驰电气装备有限公司,江苏 无锡214161
- 折叠
摘要
Abstract
The flexible-body dynamic model of flexible manipulators is established for the analysis of manipulator deformation.The dissipative energy is introduced to describe viscous damping in bearings.The equivalent deformation of the joints is proposed to describe the flexibility of the joints.The modal assumption method is used to describe the flexibility of the link.The motor winding characteristics are employed to describe the motor drive torque and the dynamic equation is established based on Lagrange principle. The model is solved numerically and the deformation at the ends of the link is calculated for different transmission ratio and different position of the mass centroid of the additive mass,and their relation is found.This work provides a theoretical foundation for further optimization design of manipulators.关键词
振动与波/柔性体/耗散能/电机绕组特性/动力学建模Key words
vibration and wave/flexible body/dissipation energy/motor winding characteristics/dynamic modeling分类
机械制造引用本文复制引用
张洪,陈一鸣,王通德..考虑电机绕组特性的柔性机械臂动力学建模[J].噪声与振动控制,2018,38(2):45-49,5.
