| 六自由度柔性关节机械臂的动力学分析 |
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| 引用本文： | 王海,付邦晨,薛彬,杨春来.六自由度柔性关节机械臂的动力学分析[J].中国机械工程,2016,27(8):1096. |
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| 作者姓名： | 王海 付邦晨 薛彬 杨春来 |
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| 作者单位： | 1.安徽工程大学，芜湖，241000
2.芜湖安普机器人产业技术研究院有限公司，芜湖，241000 |
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| 基金项目： | 国家自然科学基金资助项目（51175001，51275001，51375469）；安徽省自然科学研究计划资助项目（KJ2012A003） |
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| 摘 要： | 大多数的机器人都是在刚体动力学假设的基础上进行运动控制设计的，因此其在实际操作中的精度和效率受到一定的限制，而柔性机械臂可以很好地解决此类问题。首先给出了六自由度的柔性关节机械臂的简化模型，利用拉格朗日方法建立其动力学方程；然后以单自由度柔性关节机械臂为例，基于神经网络反演法对其控制率进行了设计；最后基于Simulink验证了控制器设计的有效性。
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| 关 键 词： | 六自由度 柔性关节 动力学 拉格朗日方程 神经网络反演法 |
Dynamics Analysis of 6-DOF Manipulators with Flexible Joints |
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| Wang Hai,Fu Bangchen,Xue Bin,Yang Chunlai.Dynamics Analysis of 6-DOF Manipulators with Flexible Joints[J].China Mechanical Engineering,2016,27(8):1096. |
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| Authors: | Wang Hai Fu Bangchen Xue Bin Yang Chunlai |
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| Affiliation: | 1.Anhui Polytechnic University，Wuhu，Anhui，241000
2.Anpu Institute of Technology Robotic Industry Co., Ltd., Wuhu，Anhui，241000 |
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| Abstract: | Most robots were hypothetical designed and controlled in rigid body dynamics. Hence, the accuracy and efficiency of these robots were limited in working. However, the flexible joint manipulators provided a good point of these problems. The 6-DOF manipulator with flexible joints was studied herein. Firstly, a simplified model was given, and the kinetic model of this manipulator was built by Lagrange equations. Then, the control law was created by neural network backstepping method in the case of 6-DOF manipulator with flexible joints. Finally, the rationality of the controller was proven by Simulink. |
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| Keywords: | 6-DOF flexible joint dynamics Lagrange equation neural network backstepping method |
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