| 空间柔性机器人动力学分析的快速积分算法 |
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| 引用本文： | 田富洋,吴洪涛,赵大旭,邵兵,缪群华,朱剑英.空间柔性机器人动力学分析的快速积分算法[J].山东大学学报(工学版),2009,39(3):94-98. |
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| 作者姓名： | 田富洋 吴洪涛 赵大旭 邵兵 缪群华 朱剑英 |
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| 作者单位： | 南京航空航天大学机电学院, 江苏 南京 210016 |
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| 基金项目： | 国防科工委“十一五”某预研基金资助项目(C4220062501);;国家自然科学基金资助项目(50375071) |
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| 摘 要： | 以空间柔性机器人为研究对象,分析了机器人柔性多体系统动力学建模过程,研究了根据广义动力学方法所建立的大型微分-代数方程的快速数值积分算法.本文采用Lagrange方法研究了空间柔性机器人的动力学模型,通过判断系统中铰的类型(主动关节和被动关节),建立机器人系统的微分-代数动力学方程,最后采用线性多步积分算法对建立的大型微分-代数方程进行高效率求解. 仿真算例的结果表明,本文研究的线性多步积分算法对求解大型微分-代数方程速度快,效率高,为空间机器人实时动力学仿真打下坚实的基础.
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| 关 键 词： | 空间机器人 柔性系统 动力学 微分-代数方程 快速积分 |
| 收稿时间： | 2009-01-06 |
Fast integration algorithms for dynamics of a flexible space robots system |
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| TIAN Fu-yang,WU Hong-tao,ZHAO Da-xu,SHAO Bing,MIAO Qun-hua,ZHU Jian-ying.Fast integration algorithms for dynamics of a flexible space robots system[J].Journal of Shandong University of Technology,2009,39(3):94-98. |
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| Authors: | TIAN Fu-yang WU Hong-tao ZHAO Da-xu SHAO Bing MIAO Qun-hua ZHU Jian-ying |
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| Affiliation: | Department of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
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| Abstract: | The dynamics model of flexible space robots was proposed,and the fast integration method to solve the complex differential-algebra equation was discussed.First,a dynamics model was set up based on the Lagrange method.Second,the differential-algebra equation of dynamics of the space flexible robots was gained according to the type of the joint(active or passive).Finally,the fast integration method to solve the complex differential-algebra equation was used.Simulations results showed that the dynamic modeling... |
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| Keywords: | space robots flexible multibody dynamic differential-algebra equation fast integration method |
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