末端质量和关节惯量对柔性臂运动稳定性的影响分析

采用控制系统稳定性分析方法研究了柔性机械臂的末端质量和驱动关节转动惯量对柔性机械臂弹性运动稳定性的影响。首先推导了末端有集中质量的柔性机械臂的动力学模型，建立了以驱动力矩为输入、以末端位置弹性振动为输出的柔性机械臂系统的传递函数。然后，用劳斯判据建立了末端位置弹性运动稳定性判据。用建立的稳定性判别式计算并对比了不同末端质量和关节转动惯量下柔性机械臂弹性运动的稳定性，定量验证了这两个参数对柔性机械臂弹性运动稳定性的影响程度。  

Analysis of Influences of End Position Mass and Joint Rotary Inertia on Motion Stability of a Flexible Manipulator Arm

The influences of end position mass and joint rotary inertia of a flexible manipulator on the elastic motion stability of the flexible manipulator was studied herein using the analysis method of control system. Dynamics mode of the flexible manipulator arm having end position addition mass was deduced in the first place, and transfer function was obtained using drive moment as input and the elastic vibration of end position as output. Then the stability criterion of the elastic motion of end position was deduced. The elastic motion stability of flexible manipulator under different end position masses and joint rotary inertia was evaluated and compared, the effect extents of two parameters on the elastic motion stability of flexible manipulator arm were verified quantitatively.