N自由度柔性机械臂通用的动力学建模方法研究

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振动与冲击 ›› 2020, Vol. 39 ›› Issue (16) : 103-111.

论文

余峰1,2，陈新元1,2

作者信息 +

A study on a general dynamic modeling method for N-degree of freedom flexible manipulators

YU Feng1,2，CHEN Xinyuan1,2

Author information +

文章历史 +

摘要

针对多自由度柔性机械臂动力学建模过程复杂的问题，提出一种适用于N自由度柔性臂刚柔耦合动力学建模的通用方法。该方法基于拉格朗日方程(Lagrange)和假设模态法(ASM)，归纳推导得到了N自由度柔性机械臂动力学模型的最简通用符号表达式，根据该建模方法开发了“N-DOF柔性机械臂动力学方程符号计算软件”；最后以两自由度柔性机械臂为例进行位置跟踪控制实验，用开发的软件自动生成了动力学模型，并搭建了实物模型进行对比验证，结果具有一致性，表明了该建模方法的正确性。与传统建模方法相比，该建模方法可减少90%以上计算时间，极大降低了建模过程的复杂性，同时对多自由度柔性臂动力学建模也具有通用性。

Abstract

Aiming at the complex dynamic modeling process of multi-DOF flexible manipulators, a general method for rigid-flexible coupling dynamic modeling of N-DOF flexible manipulators was proposed.The method is based on the Lagrange equation and the assumed mode method (ASM).According to the modeling method, the symbolic calculation software of the dynamics equation of the N-DOF flexible manipulator was developed.Finally, the position tracking control experiment of a two-degree-of-freedom flexible manipulator was taken as an example, and the dynamic model was automatically generated by the developed software, and a real model was built to verify the consistency of the results, which proves the correctness of the modeling method.Compared with the traditional modeling method, the modeling method can reduce more than 90% of the calculation time, greatly reducing the complexity of the modeling process, and the multi-degree-of-freedom flexible arm dynamics modeling is also universal.

导出引用

余峰1,2，陈新元1,2. N自由度柔性机械臂通用的动力学建模方法研究[J]. 振动与冲击, 2020, 39(16): 103-111

YU Feng1,2，CHEN Xinyuan1,2. A study on a general dynamic modeling method for N-degree of freedom flexible manipulators[J]. Journal of Vibration and Shock, 2020, 39(16): 103-111

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