空间RRRP机械臂的刚柔耦合非线性动力学特性研究

摘 要 机械臂的刚柔耦合非线性动力学特性分析是实现其运动精度控制的基础。针对某航天飞行器装载的RRRP型空间机械臂，采用模态组合函数描述各臂的弹性变形，将转动副角位移、移动幅线位移以及各臂的模态坐标作为广义自由度，利用Lagrange定理建立了空间RRRP机械臂的非线性动力学方程，采用4-5阶变步长 Longgekuta法，对非线性微分方程组进行了数值求解。研究了机械臂刚柔耦合的非线性特性及结构参数变化对末端振动的影响，为进一步实现其结构优化和精度控制奠定基础。

Nonlinear dynamical behavior analysis of a spacial rigid-flexible coupled RRRP-manipulator

It's the foudation of its motion error control that nonlinear dynamic analysis for a rigid-flexible coupled manipulator. One astronautic manipulator is equivalent to a RRRP system including an integrated mass. The one order similar modal functions of an extendible manipulator were set up by use of finite element method. Its dynamic model was set up by use of Lagrange's equation and the assumed mode method. With help of Runge-Kutta numerical method, the dy- namical characteristics of a rigid-flexible coupled RRRP system were found. The numerical results indicated that the change of the structural parameters will influence the lateral vibration of the manipulator; based on the above results, its optimal design and motion error control can be realized.