| 冗余度柔性机器人复模态弹性动力分析 |
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| 引用本文： | 宋轶民 张策 杨通强 余跃庆. 冗余度柔性机器人复模态弹性动力分析[J]. 机械科学与技术, 2004, 23(7): 780-782 |
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| 作者姓名： | 宋轶民 张策 杨通强 余跃庆 |
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| 作者单位： | 天津大学,机械工程学院,天津,300072;北京工业大学,机电学院,北京,100022 |
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| 基金项目： | 国家自然科学基金项目(5 9975 0 0 1)，中国博士后科学基金项目资助 |
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| 摘 要： | 应用运动弹性动力分析的精确方法 ,建立了计及刚弹耦合的冗余度柔性机器人的运动微分方程。为解决非对称系统的解耦问题 ,提出了一种新的模态矩阵构造方法 ,获得了系数矩阵皆为实矩阵的系统状态空间表达式 ,并采用复模态叠加法求解系统的弹性动力响应。最后 ,以平面 3R冗余度柔性机器人为例进行了计算机仿真
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| 关 键 词： | 柔性机器人 冗余度 动力学 复模态 |
| 文章编号： | 1003-8728(2004)07-0780-03 |
Complex Mode Elastodynamic Analysis of Flexible Redundant Manipulators |
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| SONG Yi min ,ZHANG Ce ,YANG Tong qiang ,YU Yue qing. Complex Mode Elastodynamic Analysis of Flexible Redundant Manipulators[J]. Mechanical Science and Technology for Aerospace Engineering, 2004, 23(7): 780-782 |
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| Authors: | SONG Yi min ZHANG Ce YANG Tong qiang YU Yue qing |
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| Affiliation: | SONG Yi min 1,ZHANG Ce 1,YANG Tong qiang 1,YU Yue qing 2 |
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| Abstract: | On the basis of the kineto elastodynamics, the governing equation of flexible redundant manipulators is developed, which includes the coupling of rigid body and elastic motions. To decouple the derived asymmetric system, a novel method for forming the modal matrices is presented. The state space expression of the system is formulated whose coefficient matricesare all real ones. Based on the complex mode superposition method, the elastodynamic response of the manipulator is calculated. Finally, a planar 3R flexible manipulator with only one redundant degree of freedom is utilized as an illustrative example. |
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| Keywords: | Flexible manipulators Kinematic redundancy Dynamics Complex mode |
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