EI、Scopus 收录
中文核心期刊

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

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.

     

  • [1] 刘宏, 蒋再男, 刘业超. 空间机械臂技术发展综述. 载人航天, 2015,21(5):435-443
    [1] ( Liu Hong, Jiang Zainan, Liu Yechao. Review of space manipulator technology. Manned Spaceflight, 2015,21(5):435-443 (in Chinese))
    [2] Likins PW. Finite element appendage equations for hybrid coordinate dynamic analysis. International Journal of Solids and Structures, 1972,8(5):709-731
    [3] Book WJ. Recursive Lagrangian dynamics of flexible manipulator arms via transformation matrices. The International Journal of Robotics Research, 1984,3(3):87-101
    [4] Zhang DG. Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms. Applied Mathematics and Mechanics, 2009,30(10):1283-1294
    [5] Yang H, Hong J, Yu Z. Dynamics modelling of a flexible hub-beam system with a tip mass. Journal of Sound and Vibration, 2003,266(4):759-774
    [6] 肖建强, 章定国. 空间运动体上梁的三维动力学建模和仿真. 空间科学学报, 2006, ( 3):227-234
    [6] ( Xiao Jianqiang, Zhang Dingguo. Three-dimensional dynamic modeling and simulation of a beam attached to a spatially moving base. Chinese Journal of Space Science, 2006, ( 3):227-234 (in Chinese))
    [7] 章定国, 余纪邦. 作大范围运动的柔性梁的动力学分析. 振动工程学报, 2006,19(4):475-480
    [7] ( Zhang Dingguo, Yu Jibang. Dynamical analysis of a flexible cantilever beam with large overall motions. Journal of Vibration Engineering, 2006,19(4):475-480 (in Chinese))
    [8] 吴胜宝, 章定国. 大范围运动刚体-柔性梁刚柔耦合动力学分析. 振动工程学报, 2011,24(1):1-7
    [8] ( Wu Shengbao, Zhang Dingguo. Rigid-flexible coupling dynamic analysis of hub-flexible beam with large overall motion. Journal of Vibration Engineering, 2011,24(1):1-7 (in Chinese))
    [9] 方建士, 章定国. 旋转悬臂梁的刚柔耦合动力学建模与频率分析. 计算力学学报, 2012,29(3):333-339
    [9] ( Fang Jianshi, Zhang dingguo. Rigid-flexible coupling dynamic modeling and frequency analysis of a rotating cantilever beam. Chinese Journal of Computational Mechanics, 2012,29(3):333-339 (in Chinese))
    [10] 陈思佳, 章定国, 洪嘉振. 大变形旋转柔性梁的一种高次刚柔耦合动力学模型. 力学学报, 2013,45(2):251-256
    [10] ( Chen Sijia, Zhang Dingguo, Hong Jiazhen. A high-order rigid-flexible coupling model of a rotating flexible beam under large deformation. Chinese Journal of Theoretical and Applied Mechanics, 2013,45(2):251-256 (in Chinese))
    [11] 吴吉, 章定国, 黎亮 等. 带集中质量的旋转柔性曲梁动力学特性分析. 力学学报, 2019,51(4):1134-1147
    [11] ( Wu Ji, Zhang Dingguo, Li Liang, et al. Dynamic characteristics analysis of a rotating flexible curved beam with a concentrated mass. Chinese Journal of Theoretical and Applied Mechanics, 2019,51(4):1134-1147 (in Chinese))
    [12] 范纪华, 章定国, 谌宏. 基于绝对节点坐标法的弹性线方法研究. 力学学报, 2019,51(5):1455-1465
    [12] ( Fan Jihua, Zhang Dingguo, Shen Hong. Research on elastic line method based on absolute nodal coordinate method. Chinese Journal of Theoretical and Applied Mechanics, 2019,51(5):1455-1465 (in Chinese))
    [13] 范纪华, 陈立威, 王明强 等. 旋转中心刚体—FGM梁刚柔热耦合动力学特性研究. 力学学报, 2019,51(6):1905-1917
    [13] ( Fan Jihua, Chen Liwei, Wang Mingqiang, et al. Research on dynamics of a rigid-flexible-thermal coupling rotating HUB-FGM beam. Chinese Journal of Theoretical and Applied Mechanics, 2019,51(6):1905-1917 (in Chinese))
    [14] Spong MW. Modeling and control of elastic joint robots. Journal of Dynamic Systems Measurement and Control, 1987,109(4):310-319
    [15] Bridges MM, Dawson DM. Redesign of robust controllers for rigid-link flexible-joint robotic manipulators actuated with harmonic drive gearing. IEE Proceedings-Control Theory and Applications, 1995,142(5):508-514
    [16] 章定国, 周胜丰. 柔性杆柔性铰机器人动力学分析. 应用数学和力学, 2006,27(5):615-623
    [16] ( Zhang Dingguo, Zhou Shengfeng. Dynamic analysis of flexible-link and flexible-joint robots. Applied Mathematics and Mechanics, 2006,27(5):615-623 (in Chinese))
    [17] 刘俊. 柔性杆柔性铰机器人刚柔耦合动力学. [硕士论文]. 南京: 南京理工大学, 2006
    [17] ( Liu Jun. Researches on the rigid-flexible coupling problem of flexible-link and flexible-joint robots. [Master Thesis]. Nanjing: Nanjing University of Science and Technology, 2006 (in Chinese))
    [18] 范纪华, 章定国, 谌宏 等. 考虑关节柔性的机器人动力学分析与仿真. 计算机仿真, 2017,34(8):331-336
    [18] ( Fan Jihua, Zhang Dingguo, Shen Hong, et al. Dynamic simulation and analysis of manipulator considering flexible joint. Computer Simulation, 2017,34(8):331-336 (in Chinese))
    [19] Xi F, Fenton RG. Coupling effect of a flexible link and a flexible joint. The International Journal of Robotics Research, 1994,13(5):443-453
    [20] 边宇枢, 陆震. 柔性机器人动力学建模的一种方法. 北京航空航天大学学报, 1999,25(4):486-490
    [21] Al-Bedoor BO, Almusallam AA. Dynamics of flexible-link and flexible-joint manipulator carrying a payload with rotary inertia. Mechanism and Mach Theory, 2000,35:785-820
    [22] Zhang DG, Zhou SF. Dynamics of flexible-link and flexible-joint robots. Applied Mathematics and Mechanics, 2006,26(5):695-704
    [23] Qian ZJ, Zhang DG, Liu J. Recursive formulation for dynamic modeling and simulation of multilink spatial flexible robotic manipulators. Advances in Mechanical Engineering, 2013: 216014-1-15
    [24] 陈思佳, 章定国. 带有载荷的柔性杆柔性铰机器人刚柔耦合动力学分析. 南京理工大学学报, 2012,36(1):182-188
    [24] ( Chen Sijia, Zhang Dingguo. Rigid-flexible coupling dynamics of flexible-link and flexible-joint robots carrying payload. Journal of Nanjing University of Science & Technology, 2012,36(1):182-188 (in Chinese))
    [25] Rong B, Rui XT, Tao L, et al. Theoretical modeling and numerical solution methods for flexible multibody system dynamics. Nonlinear Dynamics, 2019,98(2):1519-1553
    [26] Guo X, Zhang DG, Li L, et al. Application of the two-loop procedure in multibody dynamics with contact and constraint. Journal of Sound and Vibration, 2018,427:15-27
    [27] Guaraci B. Analysis of stable model inversion methods for constrained underactuated mechanical systems. Mechanism and Machine Theory, 2017,111:99-117
    [28] Krzysztf P. Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joints robots. Robotica, 1994,12:227-241
    [29] Jankowski KP, Van Brussel H. An approach to discrete inverse dynamics control of flexible-joint robot. IEEE Transactions of Robotic and Automation, 1992 8(5):651-658
  • 加载中
计量
  • 文章访问数:  1015
  • HTML全文浏览量:  100
  • PDF下载量:  315
  • 被引次数: 0
出版历程
  • 收稿日期:  2020-03-05
  • 刊出日期:  2020-08-10

目录

    /

    返回文章
    返回