| 柔性臂动力学模型的比较研究 |
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| 引用本文： | 张奇志,孙增圻,孙富春.柔性臂动力学模型的比较研究[J].机械科学与技术(西安),2000,19(3):411-413. |
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| 作者姓名： | 张奇志 孙增圻 孙富春 |
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| 作者单位： | [1]北京机械工业学院 [2]清华大学 |
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| 基金项目： | 国家自然科学基金资助项目! ( 69685 0 0 2 ) |
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| 摘 要： | 柔性臂系统控制经常采用的是简支梁模型和悬梁模型 ,但对哪一种模型更准确的问题尚无统一的认识。本文建立了单柔性臂系统的间支梁模型、悬臂梁模型 ,求出了它们在几种条件下的广义应变响应 ,并与有限元模型的结果进行比较。仿真结果表明 ,悬臂梁模型与有限元模型具有较高的一致性 ,它比简支梁模型更准确
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| 关 键 词： | 动力学模型 柔性臂系统 比较研究 |
| 修稿时间： | 1999-03-15 |
Dynamic Models of Flexible Arm: A Comparative Study |
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| ZHANG Qi-zhi,SUN Zeng-qi,SUN Fu-chun.Dynamic Models of Flexible Arm: A Comparative Study[J].Mechanical Science and Technology,2000,19(3):411-413. |
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| Authors: | ZHANG Qi-zhi SUN Zeng-qi SUN Fu-chun |
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| Affiliation: | ZHANG Qi-zhi, SUN Zeng-qi,SUN
Fu-chun;
(Beijing Institute of Machinery, Beijing 100085) |
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| Abstract: | The models under pinned pinned boundary conditions(PPM), or clamped free boundary conditions(CFM) are often adopted to control a flexible arm system. But no agreement is achievec as to which one is more accurate. In this paper, the nonlinear dynamic models of flexible arm are derived with lagrange approach through assumed modes method under pinned pinned boundary conditions(PPM) and clamped free boundary condition(CFM). The general strain responses of the models are calculated under various conditions, and compared with the response of the finite element method(FEM). Numerical simulation show that the results by CFM agree with those by FEM, and are much more accurate than those by PPM. |
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| Keywords: | Dynamic models Flexible arms Comparative study |
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