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柔性铰柔性杆机器人动力学建模、仿真和控制

方五益 郭晛 黎亮 章定国

方五益, 郭晛, 黎亮, 章定国. 柔性铰柔性杆机器人动力学建模、仿真和控制[J]. 力学学报, 2020, 52(4): 965-974. doi: 10.6052/0459-1879-20-067
引用本文: 方五益, 郭晛, 黎亮, 章定国. 柔性铰柔性杆机器人动力学建模、仿真和控制[J]. 力学学报, 2020, 52(4): 965-974. doi: 10.6052/0459-1879-20-067
Fang Wuyi, Guo Xian, Li Liang, Zhang Dingguo. DYNAMICS MODELING, SIMULATION, AND CONTROL OF ROBOTS WITH FLEXIBLE JOINTS AND FLEXIBLE LINKS[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(4): 965-974. doi: 10.6052/0459-1879-20-067
Citation: Fang Wuyi, Guo Xian, Li Liang, Zhang Dingguo. DYNAMICS MODELING, SIMULATION, AND CONTROL OF ROBOTS WITH FLEXIBLE JOINTS AND FLEXIBLE LINKS[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(4): 965-974. doi: 10.6052/0459-1879-20-067

柔性铰柔性杆机器人动力学建模、仿真和控制

doi: 10.6052/0459-1879-20-067
基金项目: 1)国家自然科学基金(11772158);国家自然科学基金(11502113);中央高校基本科研业务费专项资金(30917011103)
详细信息
    通讯作者:

    章定国

  • 中图分类号: O313

DYNAMICS MODELING, SIMULATION, AND CONTROL OF ROBOTS WITH FLEXIBLE JOINTS AND FLEXIBLE LINKS

  • 摘要: 本文探究了铰柔性对机器人动力学响应和动力学控制的影响. 首先, 建立由$n$个柔性铰和$n$个柔性杆组成的空间机器人模型, 运用递推拉格朗日动力学方法, 得到柔性机器人系统的刚柔耦合动力学方程. 在动力学建模过程中, 除了考虑杆件的拉伸变形、弯曲变形、扭转变形以及非线性耦合变形对机器人系统动力学行为的影响, 还考虑了铰的柔性对机器人动力学响应和控制的影响. 其中, 柔性铰模型是基于Spong的柔性关节简化模型, 将柔性铰看成线性扭转弹簧, 不仅考虑了铰阻尼的存在, 还考虑了柔性铰的质量效应. 其次, 编写了空间柔性铰柔性杆机器人仿真程序, 研究铰的刚度系数和阻尼系数对系统动力学响应的影响. 研究表明: 随着柔性铰刚度系数的增大, 柔性机器人的动态响应幅值减小, 振动频率变大. 随着柔性铰阻尼系数的增大, 柔性机器人的动态响应幅值减小, 振动幅值的衰减速度变快. 可通过调节柔性铰的刚度和阻尼来减小柔性铰柔性杆机器人的振动, 因此铰阻尼的研究具有重要工程意义. 最后, 研究了铰柔性在机器人系统动力学控制中的影响. 在刚性铰机械臂和柔性铰机械臂完成相同圆周运动时, 通过逆动力学方法求解得到两种情况下的关节驱动力矩. 研究表明: 引入柔性铰会使控制所需的驱动力矩变小, 对机器人控制的影响显著.

     

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出版历程
  • 收稿日期:  2020-03-05
  • 刊出日期:  2020-08-10

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