基于绝对节点坐标法的柔性双臂机构动力学分析

doi:10.16183/j.cnki.jsjtu.2017.10.002

摘要/Abstract

摘要： 基于绝对节点坐标法对具有变截面特征的柔性双臂机构进行了动力学分析.通过将边界函数引入到质量矩阵和刚度矩阵的积分上下限，建立了新型变截面梁单元模型.基于牛顿方程建立了柔性双臂机构的动力学模型.通过数值仿真案例，分析了材料特性及几何参数对柔性双臂机构动力学性能的影响.结果表明：材料弹性模量的增长可提高结构刚度减少结构变形；保证机械臂质量不变可通过改变截面形状来减少结构变形，提高运动精度.

关键词: , 柔性杆机构, 变截面, 动力学性能, 绝对节点坐标法

Abstract: A dynamic model of the flexible manipulator with variable crosssection is established based on the absolute nodal coordinate formulation. Variable boundary conditions of the link are described with some functions which are used as the upper and lower limits in the integrations to calculate mass matrix and stiffness matrix of the element. With these matrices the dynamic model of the manipulator is proposed by using the Newton equations. Manipulators with different materials and variable crosssections are employed in the numerical simulations. Results show that the increase of elastic modulus can improve the stiffness of structure and reduce its deformation. Kinematic accuracy of the structure can be improved by optimizing crosssection shape without changing its mass.

Key words: flexible link manipulator, variable crosssection, dynamic behavior, absolute nodal coordinate formulation (ANCF)

中图分类号:

TH 132

赵君1,余海东2. 基于绝对节点坐标法的柔性双臂机构动力学分析[J]. 上海交通大学学报（自然版）, 2017, 51(10): 1160-1165.

ZHAO Jun1,YU Haidong2. Dynamic Analysis of TwoLink Flexible Manipulators Based on
the Absolute Nodal Coordinate Formulation [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1160-1165.

参考文献

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