轻型操作臂结合部弹性约束动力学特性及实验研究

中国机械工程

轻型操作臂结合部弹性约束动力学特性及实验研究

刘玉飞1,3;张席2,3;李威3;许德章1

1.安徽工程大学机械与汽车工程学院，芜湖，241000
2.安徽工程大学工程研发与训练中心，芜湖，241000
3.中国矿业大学机电工程学院，徐州，221116

出版日期:2017-12-10 发布日期:2017-12-08
基金资助:
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）
National Natural Science Foundation of China （No. 51305444）

Dynamics Properties and Experimental Investigations for Light Manipulators with Elastic Restraint Joints

LIU Yufei1,3;ZHANG Xi2,3;LI Wei3;XU Dezhang1

1.School of Mechanical and Automotive Engineering, Anhui Polytechnic University,Wuhu,Anhui,241000
2.Engineering Research and Training Center, Anhui Polytechnic University,Wuhu,Anhui,241000
3.School of Mechatronic Engineering, China University of Mining and Technology,Xuzhou,Jiangsu,221116

Online:2017-12-10 Published:2017-12-08
Supported by:
National Natural Science Foundation of China （No. 51305444）

摘要/Abstract

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。

关键词: 轻型操作臂, 结合部, 弹性约束, 动力学

Abstract: 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.

Key words: light manipulator, joint, elastic restraint, dynamics

中图分类号:

刘玉飞1,3;张席2,3;李威3;许德章1. 轻型操作臂结合部弹性约束动力学特性及实验研究[J]. 中国机械工程.

LIU Yufei1,3;ZHANG Xi2,3;LI Wei3;XU Dezhang1. Dynamics Properties and Experimental Investigations for Light Manipulators with Elastic Restraint Joints[J]. China Mechanical Engineering.

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