摘要
为了研究杆和铰的柔性对柔性多体系统碰撞动力学的影响,该文以高次刚柔耦合动力学理论为基础,对由n柔性杆和n转动铰构成的柔性机器人系统进行了碰撞动力学建模与仿真。考虑了柔性杆的拉伸变形、横向弯曲变形、扭转变形、铰的柔性效应和质量。采用Hertz接触理论和非线性阻尼理论描述碰撞力。引入碰撞力势能,运用拉格朗日方程获得碰撞力所对应的广义力,得到了柔性机器人的碰撞动力学方程。编制了柔性杆柔性铰机器人含碰撞的全局动力学仿真软件。通过2个仿真算例分析了高次耦合和铰的柔性效应对柔性机器人系统碰撞动力学行为的影响,验证了该文方法的可行性。
In order to study the effects of the flexibility of links and joints on impact dynamics of flexible systems,the impact dynamics of flexible robots consisting of n links and n revolute joints are modeled and simulated based on the high-order rigid-flexible coupling dynamic theory.All the stretching deformations,bending deformations and the torsional deformations of the flexible links are considered,and the flexibility and the masses of the joints are contained.The Hertzian contact theory and the nonlinear damping theory are adopted to describe the impact forces.The concept of impact force potential energy is introduced,so that the generalized impact forces can be computed easily by employing Lagrange ' s equations.The impact dynamic equations of the flexible robots are obtained.A software package for the global dynamic simulation of flexible robots containing impact is developed.The dynamic simulations of two examples are given to investigate the influence of high-order coupling and joints flexibility on impact dynamics of the flexible robots,and verify the feasibility of the method presented here.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2013年第3期415-421,共7页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(11272155
11132007
10772085)
江苏省"333工程"(BRA2011172)
中央高校基本科研业务费专项资金(30920130112009)
关键词
柔性杆
柔性铰
机器人
碰撞
动力学
高次耦合
flexible links
flexible joints
robots
impact
dynamics
high-order coupling
