结构参数对双柔性臂的动力学性能影响的研究

将飞行器探测与修复机械手等效为含集中质量的双柔性臂系统，将飞行器平台作为双柔性臂系统的支承件，将末端夹持器及检测装置作为集中质量，利用假设模态法和拉格朗日方程建立了机械臂的多柔体动力学方程。借助数值方法求解了双柔性臂的动力学特性，及其在工作过程中对飞行器的冲击反力；研究了臂长、臂径、材料弹性与密度等参数对其动力学性能的影响规律。计算结果表明：参数的不合理取值会导致臂关节的角加速度突变值和支承的冲击反力增大。在该研究成果基础上，可进一步实现机械臂的优化设计。

INFLUENCE OF STRUCTURAL PARAMETERS ON DYNAMICAL BEHAVIOR OF A TWO-FLEXIBLE-MANIPULATOR SYSTEM

Manipulator of an aircraft is equivalent to a two-flexible-manipulator system including an infegrated mass.The platform of the aircraft is considered as the foot of the Two-flexible-manipulator system.Its clamper and detecting device are considered as an integrated mass.Its dynamic model is set up by use of Lagrange's Equation and the assumed mode method.With help of numerical method,the characteristic of the two-flexible-manipulator system and its impact force to the aircraft in working progress are found.The influence of its parameters such as length,radius,the material modulus and density on its dynamic behavior is studied.The numerical results indicate that the angular acceleration of the manipulator joint will suddenly change and the impact resistant force of the foot will increase if the parameters are unreasonable.Based on the above results,its optimal design can be realized.