柔性欠驱动机械臂动力学耦合分析

为建立柔性3R欠驱动机械臂的动力学方程,采用Euler-Bernoulli梁模型并添加经迭代计算的边界条件,对柔性机械臂进行了动力学耦合与仿真分析。在对柔性机械臂进行模态分析的基础上,将柔性机械臂视为包含边界条件的悬臂梁和简支-自由梁模型,采用假设模态法建立柔性3R欠驱动机械臂的动力学模型。仿真结果证明：添加经迭代计算的边界条件的柔性梁模型能更好地反映自由关节的加速度耦合情况。最后对柔性欠驱动机械臂与刚性欠驱动机械臂进行关节耦合指标分析,结果表明柔性欠驱动机械臂的自由关节包含更复杂的耦合情况,对柔性机械臂弹性振动的控制是对柔性欠驱动机械臂控制的关键。     

组合柔性机械臂动力学模型参数识别

将柔性机械臂做成组合结构,利用结合面摩擦效应抑制柔性机械臂的振动。用单根叠层组合柔性臂与实体柔性臂的自由振动对比试验验证组合柔性臂具有优良的抑振性能。用弹簧摩擦副双折线模型和三次非线性弹性力模型建立组合柔性臂的动力学模型。根据组合柔性臂有限元仿真激振试验数据,确定组合柔性臂的形函数和动态恢复力滞迟回线。用动能等效原理、滞迟回线分解法和最小二乘法确定组合柔性臂的动力学模型参数。在Simulink平台上,编制弹簧摩擦副恢复力计算模块,解决含有记忆环节的柔性臂非线性微分方程的数值求解问题。经试验验证,用该模型参数识别方法确定的动力学模型能较准确地反映组合柔性机械臂的动力学性质,为组合柔性机械臂动力学建模、减振性设计提供有效方法。     

多级柔性伸缩臂动力学建模分析与实验

针对多级柔性伸缩臂滑动耦合动力学问题,根据ADAMS柔性体建模理论,建立了一种基于虚拟样机的多级柔性伸缩臂动力学模型。利用三维建模软件,依托改装的轻型伸缩臂式起重机建立实体模型,利用有限元分析软件对各级伸缩臂建立有限元模型,生成模态中性文件导入ADAMS中建立动力学仿真模型。为了实现仿真过程与实际工作状态一致,保证仿真结果反映实际工况,在伸缩臂间分别添加滑移副约束和接触力约束建立动力学仿真模型,通过比较两种不同约束方式所产生的动力学响应,并通过实验验证,分析得出多级伸缩臂臂间滑块与臂节之间接触碰撞会影响伸缩臂作业平稳性和安全性。研究结果为多级柔性伸缩臂动力学建模分析和设计制造提供了参考依据。     

基于模糊PID融合的柔性机械臂振动压电主动控制研究

针对含有压电智能结构的柔性机械臂,提出了基于模糊PID融合控制理论的柔性机械臂振动主动控制方法。搭建了悬臂梁和平面1R、2R柔性机械臂实验装置,并设计了相应的控制系统,通过实验实现了柔性机械臂振动的主动控制,实验结果显示,该方法可以抑制柔性机械臂振动,具有响应快、鲁棒性好等特点,且该方法不依赖于柔性机械臂动力学模型,算法简单,实时性好。     

带有反馈控制的柔性机械臂动态研究与振动控制

带有反馈控制的柔性机械臂关节处边界条件不同于振动控制理论中的铰支梁或悬臂梁边界条件,为此,将其视为弹簧铰支,建立柔性机械臂动力学模型,并基于柔性臂的部分状态转速、转角及柔性梁应变的反馈,结合柔性臂机电耦合特性,得到了以柔性臂末端点转角θt为输出,以柔性臂给定转角θd为输入的传递函数.由频域的二次型目标函数,求得柔性臂应变反馈增益.一系列的试验结果证明理论分析的正确性.     

线驱动柔性臂捕获装置的多体动力学特性分析

以线驱动柔性机械臂捕获装置为研究对象,提出了一种多柔体动力学建模方法,分析了捕获装置抓取目标物体过程中的动力学特性。首先,基于拉格朗日方程和有限元方法,建立多柔体动力学模型;其次,进行计算模型与实物柔性臂运动轨迹和变形状态的验证;最后,通过动力学仿真分析柔性机械臂装置在捕获目标物体的过程中的形态变化,以及驱动力和阻尼比对柔性臂捕获范围的影响。     

三角形柔性铰链的建模与分析

作为一种旋转单元,三角形柔性铰链可以组合为性能更加优良的柔性模块或柔性机构,如车轮形铰链、蝶形铰链等。建立准确的受力模型,分析其载荷—位移特性成为设计复杂铰链或机构的关键所在。基于近似的悬臂梁模型,建立三角形柔性铰链在同时受到弯矩、切向力和轴向力作用下精确的转角模型。得到未被近似的轴漂计算公式,并根据公式推导实用的轴漂模型。转角和轴漂模型都简洁地表征了载荷—位移关系,最后,通过有限元分析验证了所建立的模型的准确性。     

简支梁金属橡胶本构模型

依据金属橡胶细观接触作用特点及受力变形特征为基础,对金属橡胶准静态压缩情况进行分析.从金属橡胶的微单元体出发,以单匝螺旋卷为基本受力单元,根据单匝螺旋卷与简支梁的几何关系,及单元体内螺旋卷的串并联关系,提出了简支梁金属橡胶本构模型,并用不同工艺参数的金属橡胶试件对所建模型进行试验验证,同时与悬臂梁模型、多孔模型作误差对比分析.结果表明:与悬臂梁模型和多孔模型相比,简支梁模型与实验数据拟合误差更小,所以简支梁本构模型可以更好的反映金属橡胶的静态力学性能,同时该模型可以反映丝径、丝材、螺旋卷直径、相对密度等因素对金属橡胶非线性力学性能的的影响.     

压电柔性机械臂系统辨识与振动主动控制

以Euler-Bernoulli悬臂梁为实验模型,研究了压电柔性机械臂系统的模型建立和振动主动控制的问题.首先,针对柔性构件在建模过程中的复杂性和非线性等特点,采用实验辨识的方法建立了由压电致动器输入到压电传感桥路的输出之间的传递函数模型;其次,对于压电柔性机械臂的弹性振动问题,基于线性二次型最优控制理论,针对加权矩阵...     

《机械工程学报》英文版2000年第13卷第4期目次、摘要预告

通过规划加速度抑制柔性臂残余振动的研究朱 建(香港城市大学制造工程及工程管理学系)邵 浩 王兴松(哈尔滨工业大学)(东南大学)摘要 ： 探索了一种通过规则加速度来抑制柔性臂残余振动的方法。在建立数学模型的基础上,从理论上推导出柔性臂振动与加速度,振动频率,阻尼及时间的函数关系式。根据柔性臂的振动频率及阻尼进行试验,在对应的时刻施加于柔性臂对应的加速度,以抑制柔性臂的残余振动,获得很好的结果。叙词：柔性臂 抑制控制 加速度中图分类号：TG580纳米硬度计研究多晶硅微悬臂梁的弯曲形变丁建宁 孟永钢 温诗铸(清华大学摩擦…     

Free vibration analysis of beams with non-ideal clamped boundary conditions

A non-ideal boundary condition is modeled as a linear combination of the ideal simply supported and the ideal clamped boundary conditions with the weighting factors k and 1-k, respectively. The proposed non-ideal boundary model is applied to the free vibration analyses of Euler-Bernoulli beam and Timoshenko beam. The free vibration analysis of the Euler-Bernoulli beam is carried out analytically, and the pseudospectral method is employed to accommodate the non-ideal boundary conditions in the analysis of the free vibration of Timoshenko beam. For the free vibration with the non-ideal boundary condition at one end and the free boundary condition at the other end, the natural frequencies of the beam decrease as k increases. The free vibration where both the ends of a beam are restrained by the non-ideal boundary conditions is also considered. It is found that when the non-ideal boundary conditions are close to the ideal clamped boundary conditions the natural frequencies are reduced noticeably as k increases. When the non-ideal boundary conditions are close to the ideal simply supported boundary conditions, however, the natural frequencies hardly change as k varies, which indicate that the proposed boundary condition model is more suitable to the non-ideal boundary condition close to the ideal clamped boundary condition.     

刚柔耦合柔性机械手二阶理论精准建模及实验研究

基于动边界条件和三种变形理论,选取Euler-Bernoulli梁模型,采用假想模态法并结合拉格朗日方程建立了双关节柔性机械手的精准动力学模型。根据理论计算仿真结果分析了动边界条件和变形理论对双关节柔性机械手理论建模精准性的影响,并通过实验对比双关节柔性机械手在不同动边界下理论模型和实验条件下的模态频率,验证了转动自由梁模型与实际工况更为贴近。     

Modeling the edge contact effect of finite contact lines on subsurface stresses

Finite contact line conditions lead to subsurface stress distributions determined by the free boundaries. Combined with a correction procedure, Semi-Analytical Methods (SAMs) accurately include the free boundary effects, and represent a rapid alternative to the Finite Element Method (FEM) for contact pressure calculation. This paper extends the free boundary correction procedure to the evaluation of surface and subsurface stresses from SAMs. The investigation integrates a validation based on a two-level factorial comparison confronting the stress distributions established with the developed procedure to results obtained from FEM models. The comparison examines three dimensionless factors, and shows that the stress distributions are evaluated with a high level of precision. The model also offers evaluation more than 125 times faster than FEM simulations.     

Buckling of symmetrically laminated rectangular plates under parabolic edge compressions

Buckling analysis of symmetrically laminated rectangular plates with parabolic distributed in-plane compressive loadings along two opposite edges is performed using the Rayleigh-Ritz method. Classical laminated plate theory is adopted. Stress functions satisfying all stress boundary conditions are constructed based on the Chebyshev polynomials. Displacement functions for buckling analysis are constructed by Chebyshev polynomials multiplying with functions that satisfy either simply supported or clamped boundary condition along four edges. Methodology and procedures are worked out in detail. Buckling loads for symmetrically laminated plates with four combinations of boundary conditions are obtained. The proposed method is verified by comparing results to data obtained by the differential quadrature method (DQM) and the finite element method (FEM). Numerical example also shows that the double sine series displacement for simply supported symmetrically laminated plates having bending-twisting coupling may overestimate the stiffness, thus providing higher buckling loads.     

Accurate low DOF modeling of a planar compliant mechanism with flexure hinges: the equivalent beam methodology

A methodology for accurate and efficient finite elements method (FEM) simulations of planar compliant mechanisms with flexure hinges is presented. First, using symmetry/antisymmetry boundary conditions and 3D elements, one-eighth of a single hinge is simulated to determine its true stress/stiffness characteristics. A set of fictitious beams is derived, which have the identical characteristics. This set is used in conjunction with other beams that model relatively stiff links to generate an equivalent model of an entire mechanism consisting of the beam elements only. The model has a low number of degrees-of-freedom (DOF) and appears to be more accurate than any 2D FEM models, even those with very large number of DOF. The methodology has been developed specifically for the right circular flexure hinge; however, it can be applied to all types of revolute flexure hinges.     

积分方程法对含复杂孔形复合材料板孔边应力分布的研究

根据非均质各向异性弹性理论对含复杂孔形复合材料板进行孔边应力分析,解决复杂孔形的边界条件问题.建立基于准确的边界条件的边界积分方程,最终得到开口结构的应力分布,给出含六边形、矩形和机翼检修孔复合材料板的精确解析解,并用有限元方法进行对比计算.平面应力场借助保角映射的方法通过复变应力函数得到.     

Vibration and buckling of generally laminated composite plates with arbitrary edge conditions

A method is developed for the analysis of free vibration and buckling of generally laminated composite plates having arbitrary edge conditions, such as clamped, simply supported or free. The procedure is an extension of the Ritz method utilizing a strain energy functional containing both bending and stretching effects and accommodating arbitrary ply stacking sequences. Displacement functions are taken in the form of polynomials, and an algorithm for satisfying the geometric boundary conditions is presented. Numerical results are compared with those of other researchers in order to establish the correctness and effectiveness of the method. Some additional new results are also presented.     

垂直平面三杆柔性机械手动力学建模及仿真

为解决柔性机械手动力学建模常用的有限元等方法导致模型精度不高的问题,将柔性机械手视为连续整体,用矢量法建立了机械手的动力学模型。对比了矢量法和FEM法建立的动力学模型以及理想状态下机械手刚体动力学模型的仿真结果。对比结果表明,用矢量法建立的柔性机械手动力学模型是可行的,精度也较高。