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基于变形场不同离散方法的柔性机器人动力学建模与仿真

范纪华 章定国

范纪华, 章定国. 基于变形场不同离散方法的柔性机器人动力学建模与仿真[J]. 力学学报, 2016, 48(4): 843-856. doi: 10.6052/0459-1879-16-163
引用本文: 范纪华, 章定国. 基于变形场不同离散方法的柔性机器人动力学建模与仿真[J]. 力学学报, 2016, 48(4): 843-856. doi: 10.6052/0459-1879-16-163
Fan Jihua, Zhang Dingguo. DYNAMIC MODELING AND SIMULATION OF FLEXIBLE ROBOTS BASED ON DIFFERENT DISCRETIZATION METHODS[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(4): 843-856. doi: 10.6052/0459-1879-16-163
Citation: Fan Jihua, Zhang Dingguo. DYNAMIC MODELING AND SIMULATION OF FLEXIBLE ROBOTS BASED ON DIFFERENT DISCRETIZATION METHODS[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(4): 843-856. doi: 10.6052/0459-1879-16-163

基于变形场不同离散方法的柔性机器人动力学建模与仿真

doi: 10.6052/0459-1879-16-163
基金项目: 国家自然科学基金(11502098,11272155,11132007), 江苏省“333 工程”(BRA2011172), 江苏省高校自然科学研究面上项目(15KJB130003),中央高校基本科研业务专项资金(30920130112009) 资助项目.
详细信息
    通讯作者:

    章定国,教授,主要研究方向:多体系统动力学与控制.E-mail:zhangdg419@mail.njust.edu.cn

  • 中图分类号: O313.7

DYNAMIC MODELING AND SIMULATION OF FLEXIBLE ROBOTS BASED ON DIFFERENT DISCRETIZATION METHODS

  • 摘要: 研究了基于变形场不同离散方法的柔性机器人动力学建模和仿真问题. 针对多杆空间链式柔性机器人系统,采用假设模态法、有限元法、Bezier 插值方法和B 样条插值方法对柔性杆变形场进行描述,构造统一形式,运用Lagrange 方法,结合4×4 齐次变换矩阵,在计入柔性杆横向弯曲变形引起的纵向缩短的情况下,推导得到多杆空间柔性机器人动力学方程,并编制基于4 种变形场不同离散方法的多杆空间链式柔性机器人仿真软件.通过仿真算例对柔性机器人系统的动力学问题进行研究. 仿真结果表明:有限元法的计算效率较低;假设模态法在处理较大变形问题时其精度低于Bezier 插值方法和B 样条插值方法的精度;作为新的变形体离散方法,Bezier 插值方法和B 样条插值方法可以有效地描述柔性杆的变形场,并能运用到多杆空间柔性机器人动力学建模中.

     

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出版历程
  • 收稿日期:  2016-06-06
  • 修回日期:  2016-06-13
  • 刊出日期:  2016-07-18

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