| 双连杆柔性臂动力学建模与仿真分析 |
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| 引用本文： | 董得忠,郭军,丁希仑,连华东.双连杆柔性臂动力学建模与仿真分析[J].机械科学与技术(西安),2006,25(4):472-475. |
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| 作者姓名： | 董得忠 郭军 丁希仑 连华东 |
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| 作者单位： | [1]北京航空航天大学,北京100083 [2]北京空间机电研究所,北京100076 |
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| 基金项目： | 北京航空航天大学校科研和校改项目 |
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| 摘 要： | 基于修正的固定界面子结构模态综合法———Craig-Bampton法,利用多体系统动力学仿真分析软件MSC.ADAMS与有限元分析软件MSC.NASTRAN完成对双连杆柔性机械臂动力学建模,进行了运动学仿真分析,并且与刚性臂运动相比较,对柔性机械臂末端运动振动信号进行了频谱分析。分析结果表明,这种方法在多柔体系统建模和分析中是精确和高效的。
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| 关 键 词： | 双连杆柔性臂 模态综合 ADAMS |
| 文章编号： | 1003-8728（2006）04-0472-04 |
| 收稿时间： | 2005-03-25 |
| 修稿时间： | 2005-03-25 |
Dynamic Modeling and Simulation Analysis of a Two-link Flexible Robot Manipulator |
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| Dong Dezhong,Guo Jun,Ding Xilun,Lian Huadong.Dynamic Modeling and Simulation Analysis of a Two-link Flexible Robot Manipulator[J].Mechanical Science and Technology,2006,25(4):472-475. |
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| Authors: | Dong Dezhong Guo Jun Ding Xilun Lian Huadong |
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| Affiliation: | 1 Beihang University, Beijing 100083 ;2 Electromechanical Research Institute of Space of Beijing, Beijing 100076 |
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| Abstract: | The dynamic model of a two-link flexible robot manipulator is built by using MSC. ADAMS and MSC. NASTRAN and improved fixed-interface substructure component mode synthesis. The kinematics simulation analysis of the model is carried out and compared with that of a stiff manipulator. The frequency of the motion signals at the tip of a flexible manipulator is analyzed. The analysis shows that the model is accurate and efficient in the modeling of flexible muhibody systems. |
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| Keywords: | ADAMS |
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