| 双连杆柔性臂动力学建模与仿真分析 |
| |
| 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, 2006, 25(4): 472-475 |
| |
| 作者姓名： | 董得忠 郭军 丁希仑 连华东 |
| |
| 作者单位： | 北京航空航天大学,北京,100083;北京空间机电研究所,北京,100076 |
| |
| 基金项目： | 北京航空航天大学校科研和校改项目 |
| |
| 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。
|
| 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 |
| |
| 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 for Aerospace Engineering, 2006, 25(4): 472-475 |
| |
| Authors: | Dong Dezhong Guo Jun Ding Xilun Lian Huadong |
| |
| Affiliation: | 1 Beihang University, Beijing 100083 ;2 Electromechanical Research Institute of Space of Beijing, Beijing 100076 |
| |
| 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. |
| |
| Keywords: | ADAMS |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
