含铰链间隙的刚-柔机械臂动力学模型

根据Hertz接触定律和Coulomb摩擦定律，建立了含间隙平面旋转铰的力学模型；采用几何变形约束法和模态缩聚技术描述柔性机械臂的非线性变形；同时考虑两个旋转铰的间隙特性和柔性臂的弹性变形，最终采用Kane方程建立了含铰链间隙的刚-柔机械臂系统的动力学模型．

A dynamic model of the mechanical arm with joint clearance

Joint clearance exists in mechanical multibody systems, which affects the constraint conditions, the degree of freedoms, and the topological structures of the mechanical system. Based on the Hertz's contact law and the Coulomb's friction law, a mechanical model of the planar revolute joint with clearance was built. A two-beam mechanical arm with one rigid beam and one flexible beam was studied, and the elastic distortion of the flexible beam was described by the geometrical deformation constraint method and the modal condensation method. By using the Kane's equation, a complete dynamic model of the mechanical arm, which considered two planer revolute joints with clearance, was built, and the model was more realistic and precise compared to the conventional one.