欠驱动柔性机器人动力学建模及仿真

根据欠驱动机器人的结构特点，以柔性多体系统动力学理论为基础，采用便于实时控制的假设模态方法，建立了具有柔性杆件的欠驱动机器人的动力学模型。对动力学模型的求解进行了分析，讨论了被动关节处模态函数各种边界条件的确定。通过对二自由度欠驱动机器人被动关节的位置控制，实现对柔性杆的弹性变形及其变化的仿真分析，所得结果验证了假设模态方法动力学模型的有效性，反映了不同驱动器位置系统的振动特性和对系统振动控制的必要性。

Dynamic Modeling and Simulation of Underactuated Flexible Robot

Based on the dynamics of flexible multi--body system, a dynamic model for underactuated robot with flexible links was presented using assumed mode method. In this model, the structural characteristics of underactuated robot were considered. The solution to this model was analyzed and the various boundary conditions of modal function at the passive joints were discussed. The simulation was given via position control of the passive joints of a 2DOF underactuated manipulator. The results demonstrate the elastic deformations of the flexible links and reflect the vibration characteristics of the system at different actuator placements, which verify the efficiency of the proposed model. The simulation also reveals that it is necessary to control the vibration of flexible links.