摘要
总结了国内外学者在柔性机械臂建模理论及其相关实验等方面的最新研究进展,系统地阐述了柔性机械臂的变形描述方法、关节动力学建模、柔性机械臂系统的动力学建模方法、臂杆的刚化和软化效应、柔性机械臂实验方法等方面的研究现状,提出了现阶段机械臂动力学理论与实验研究存在的问题与不足,预测了柔性机械臂动力学研究的主要方向和核心技术,详细分析了柔性机械臂最佳模态阶数选取、基于动力学特性的柔性机械臂系统参数优化、关节驱动规律的确定、柔性机械臂在高速运转下刚化与软化效应、柔性机械臂关节精细建模、空间柔性机械臂超低速运行时爬行现象等待解决的关键技术问题。
This paper summarized the latest advances on the flexible manipulator modeling theories and relevant experiments of scholars at home and abroad,systematically expounded the study status of the methods to describe the flexible manipulator deformations,the joint dynamics modeling,the dynamic modeling methods of flexible manipulator systems,the stiffening and softening effects of the arms and the experimental methods.Then this paper proposed the present problems and shortcomings of manipulator dynamics theory and experimental study,predicted the main direction and core technology of the flexible manipulator dynamics research and analyzed key technical problems about the optimal mode order selection of flexible manipulators in detail.The system parameter optimization based on the dynamic characteristics of flexible manipulators,the determination of joint driving laws,the stiffening and softening effects of manipulator arms under high speed,the fine modeling of flexible manipulator joints and the crawling phenomenon in the super low speed of space flexible manipulators were presented.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第12期1694-1703,共10页
China Mechanical Engineering
基金
高等学校博士学科点专项科研基金资助项目(20120002110070)
国家自然科学基金资助项目(11272171)
关键词
柔性机械臂
动力学建模
刚度变化
实验研究
flexible manipulator
dynamics modeling
stiffness change
experimental study
