摘要
对结合部弹性约束下轻型操作臂系统的动力学特性进行了研究。首先,基于结合部的线约束刚度,建立了轻型操作臂的弹性约束模型,得到系统的频率特性方程;其次,基于建立的弹性约束模型,采用哈密顿变分原理推导了系统的振动位移方程;最后,采用理论仿真和实验方法对轻型操作臂弹性约束系统的动力学特性进行分析,探讨了结合部弹性约束对系统动态特性的影响机理。研究结果表明:所建弹性约束模型能够表征结合部的弹性约束作用,尤其对高阶模态的分析具有较高精度;在弹性约束区域内,频率与约束刚度之间具有幂函数关系特征,前两阶频率拟合误差分别小于0.08%和0.45%;振动位移分析误差为2.38%,通过实验验证了系统弹性约束模型和动力学分析结果的正确性。
The dynamics properties of flexible manipulator systems with elastic restraint joints were investigated.Firstly,an elastic restraint model with the linear restraints was established,and then,the frequency equation was subsequently derived.Secondly,based on the established elastic restraint model and Hamilton principle,the vibration displacement equation was derived.Finally,the dynamics properties of the flexible manipulator elastic restraint systems were analyzed using theoretical simulation and experimental approach,and the influence mechanism of elastic restraints on the dynamics were revealed.The results show that the established model may describe the elastic restraints of joints,particularly for higher order modes.Moreover,in the defined elastic restraint regions,the relationship of the frequency and the restraint stiffness has the characteristics of power function,and the fitting errors for the first two order frequencies are small than 0.08%and 0.45%,respectively,and the analysis errors for the vibration displacements are as 2.38%,which were verified experimentally.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2017年第23期2792-2799,共8页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51305444)
安徽高校自然科学研究项目(KJ2017A118)
安徽省科技攻关计划资助项目(1604a0902125
1604a0902183)
芜湖市科技计划资助项目(2016cxy03)
安徽工程大学大学引进人才科研启动基金资助项目(2016YQQ012)
