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| 具有被动约束控制装置的柔性机械臂动力学分析 | |
| 引用本文： | 刘明,邹建奇,董露桃.具有被动约束控制装置的柔性机械臂动力学分析[J].吉林建筑工程学院学报,2006,23(3):9-11,31. |
| 作者姓名： | 刘明 邹建奇 董露桃 |
| 作者单位： | 1. 吉林建筑工程学院土木工程学院,长春,130021;长春市规划局,长春,130000 2. 吉林建筑工程学院土木工程学院,长春,130021 3. 吉林通润工程造价咨询有限公司,长春,130000 |
| 基金项目： | 吉林省科技发展计划项目(20040535) |
| 摘 要： | 研究了具有被动约束装置的柔性机械臂的动力响应.由于转动梁具有强非线性、强耦合的特性,因此,采用la-grange方法和Rayleigh-Ritz方法建立机械臂的动力学模型,并在时域中分析其动力响应.该机械臂附加有约束层和粘弹性材料层在铅垂面内转动,末端承受一集中质量.数值仿真表明,约束阻尼层不但能减少弹性振动的振幅,而且能很快将振动衰减掉. |
| 关 键 词： | 柔性机械臂 动力学 被动控制 |
| 文章编号： | 1009-1288（2006）03-0009-03 |
| 收稿时间： | 09 20 2005 12:00AM |
| 修稿时间： | 2005-09-20 |
Dynamic Analysis of a Flexble Manipulator with Passive Constrained Layer Damping |
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| LIU Ming,ZOU Jian-qi,DONG Lu-tao.Dynamic Analysis of a Flexble Manipulator with Passive Constrained Layer Damping[J].Journal of Jilin Architectural and Civil Engineering,2006,23(3):9-11,31. | |
| Authors: | LIU Ming ZOU Jian-qi DONG Lu-tao |
| Affiliation: | 1.School of Civil Engineering ,Jilin Architectural and Civil Engineering Institute, Changchun 130021;2. Changchun Urban Planning Bureau , Changchun 130000; 3.Jilin RunTong Engineering Cost Consultation Ltd, Changchun 130061 |
| Abstract: | This paper studies the vibration behavior of a flexible manipulator with passive constrained layer damping(PCLD) treatment.Due to the highly nonlinear and coupled characteristics of the beam with PCLD treatment,Using Lagrange's equation and Rayleigh-Ritz method,the dynamic model of the manipulator is obtained and its vibration response is analyzed in the time domain.The manipulator rotates in a vertical plane and carries an end mass.Numerical simulations show that the VEM not only reduces the amplitude of the elastic deflection but also quickly attenuates the vibration to zero. |
| Keywords: | flexible manipulator dynamics passive constrained layer damping |
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