论文部分内容阅读
采用有限段方法建立柔性机械臂的离散模型，以基于Ｋａｎｅ方程的Ｈｕｓｔｏｎ方法建立柔性机械臂的动力学方程。在方程中，计入几何非线性变形的惯性影响，包括非对称花面当量弹性力对于广义主动力的贡献。求解过程引入相对位移的模态变换以提高计算效率。以单柔性机械臂为例，进行动力学仿真与实气研究。结果表明数值计算结果与实验结果吻合良好。
The finite element method is used to establish the discrete model of flexible manipulator. The dynamics of flexible manipulator is established by Huston method based on Kane equation. In the equation, the inertia effects of geometric nonlinear deformation are taken into account, including the contribution of the elastic equivalent force of the asymmetric facets to the generalized principal forces. The solution process introduces the modal transformation of relative displacement to improve the computational efficiency. Taking a single flexible manipulator as an example, dynamic simulation and real gas research are carried out. The results show that the numerical results agree well with the experimental results.