刚柔耦合柔性机械手二阶理论精准建模及实验研究

中国机械工程

刚柔耦合柔性机械手二阶理论精准建模及实验研究

赵燕;阮成明;王松伟

武汉理工大学机电工程学院，武汉，430070

出版日期:2018-01-25 发布日期:2018-01-22
基金资助:
国家自然科学基金资助项目(11202153)
National Natural Science Foundation of China （No. 11202153）

Second-order Accurate Modeling and Experimental Studies of Rigid-flexible Coupled Flexible Manipulator

ZHAO Yan;RUAN Chengming;WANG Songwei

School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan,430070

Online:2018-01-25 Published:2018-01-22
Supported by:
National Natural Science Foundation of China （No. 11202153）

摘要/Abstract

摘要： 基于动边界条件和三种变形理论，选取Euler-Bernoulli梁模型，采用假想模态法并结合拉格朗日方程建立了双关节柔性机械手的精准动力学模型。根据理论计算仿真结果分析了动边界条件和变形理论对双关节柔性机械手理论建模精准性的影响，并通过实验对比双关节柔性机械手在不同动边界下理论模型和实验条件下的模态频率，验证了转动自由梁模型与实际工况更为贴近。

关键词: 柔性机械手, 刚柔耦合, 精准建模, 动边界条件, 变形理论

Abstract: Based on dynamic boundary conditions and three deformation theories, a precise dynamics model of double-joint flexible manipulators with pseudo-modal method and Lagrangian method was established by Euler-Bernoulli beam model. Influences of the dynamic boundary conditions and deformation theory on theoretical modeling accuracy of the double-joint flexible manipulators were analyzed according to theoretical simulation results. It is verified that the model of rotating free beam is closer to the actual working conditions，by comparisons of double-joint flexible manipulator's modal frequencies of the experimental results and those from the theoretical model under different dynamic boundary conditions.

Key words: flexible manipulator, rigid-flexible coupling, accurate modeling, dynamic boundary condition, deformation theory

中图分类号:

TP24

赵燕;阮成明;王松伟. 刚柔耦合柔性机械手二阶理论精准建模及实验研究[J]. 中国机械工程.

ZHAO Yan;RUAN Chengming;WANG Songwei. Second-order Accurate Modeling and Experimental Studies of Rigid-flexible Coupled Flexible Manipulator[J]. China Mechanical Engineering.

参考文献

[1]谷勇霞，张玉玲，赵杰亮，等, 柔性机械手动力学建模理论与实验研究进展[J]. 中国机械工程, 2016, 27(12): 1694-1703.
GU Yongxia, ZHANG Yuling, ZHAO Jieliang, et al. Advances on Dynamics Modeling and Experimental Studies for Flexible Manipulators[J].China Mechanical Engineering, 2016, 27(12): 1694-1703.
[2]褚明.空间柔性机械手动力学特性与主动控制研究[D].北京：北京邮电大学，2010.
CHU Ming. Research on Dynamic Characteristics and Active Control of Space Flexible Manipulator[D]. Beijing: Beijing University of Posts and Telecommunications, 2010.
[3]ABE A.Trajectory Planning for Residual Vibration Suppression of a Two-link Rigid-flexible Manipulator Considering Large Deformation[J]. Mechanism and Machine Theory,2009, 44(12): 1627-1639.
[4]刘建英，王校岳，宫金良.柔性欠驱动机械臂动力学耦合分析[J].中国机械工程，2017,28(22):2732-2746.
LIU Jianying, WANG Xiaoyue, GONG Jinliang. Dynamics Coupling Analysis of Flexible Underactuated Manipulators[J].China Mechanical Engineering,2017,28(22):2732-2746.
[5]DWIVEDY S K, EBERHARD P. Dynamic Analysis of Flexible Manipulators[J]. Mechanism and Machine Theory， 2006,44(12) :749-777.
[6]LI S，LIU H. Vibration Analysis on Complex Boundaries Model of Aero-engine's Vane[J]. Machine Design & Research, 2008, 24(6): 60-63.
[7]章孝顺,章定国,洪嘉振.考虑曲率纵向变形效应的大变形柔性梁刚柔耦合动力学建模与仿真[J].力学学报, 2016,48(3): 692-701.
ZHANG Xiaoshun, ZHANG Dingguo, HONG Jiazhen. Rigid and Flexible Coupling Dynamic Modeling and Simulation of a Large Deformed Flexible Beam Considering Curvature Longitudinal Deformation Effect[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016,48(3): 692-701.
[8]刘旭亮, 黄玉平，崔佩娟，等. 柔性机械手建模及动力学特性分析[J]. 噪声与振动控制, 2014,34(6): 7-11.
LIU Xuliang, HUANG Yuping, CUI Peijuan, et al. Modeling and Dynamic Characteristic Analysis of Flexible Robotic Arm[J].Noise and Vibration Control, 2014,34(6): 7-11.

[1]	王昆鹏1,2;肖晓华1,2;朱海燕1,2;曾杰1,2. 柔性牵引器刚柔耦合动力学特征及结构优化[J]. 中国机械工程, 2020, 31(08): 915-923,930.
[2]	刘俊1;张海剑1;王威1;刘亚军1;周福庚2. 基于轮胎六分力的某商用车车架疲劳分析[J]. 中国机械工程, 2019, 30(21): 2583-2589.
[3]	刘俊1;刘亚军1;张少辉1;杨建森2;董强强2. 基于虚拟迭代及有限元理论的某中型货车驾驶室疲劳寿命研究[J]. 中国机械工程, 2018, 29(13): 1588-1595.
[4]	邱雪松, 肖超, 谭候金, 侯雨雷, 周玉林. 大型机器人冲压生产线多软件联合仿真[J]. 中国机械工程, 2016, 27(06): 772-777.
[5]	田颖, 张建华, 张明路. 垂直平面三杆柔性机械手动力学建模及仿真[J]. 中国机械工程, 2015, 26(8): 1014-1018.
[6]	金鑫, 周克栋, 赫雷, 黄雪鹰, 张俊斌. 新型射击试验用枪架设计与分析[J]. 中国机械工程, 2015, 26(24): 3323-3326.
[7]	李欣冉;陈无畏;陈晓新. 基于刚柔耦合模型的悬架NVH性能研究[J]. 中国机械工程, 2014, 25(7): 978-983.
[8]	魏小辉1，2;王钰龙2;印寅2;聂宏1，2;倪华近2. 某起落架收放联动机构故障分析及改进设计[J]. 中国机械工程, 2014, 25(3): 399-403.
[9]	伍文广, 谷正气, 米承继. 基于刚柔耦合模型的电动轮自卸车平顺性分析与优化[J]. 中国机械工程, 2014, 25(20): 2819-2824.
[10]	张军峰, 贺岩松, 杨海威, 黄勇. 基于俯仰角加速度的驾驶室悬置系统修改[J]. 中国机械工程, 2012, 23(18): 2258-2262.
[11]	王斌锐1, 2, 方水光1, 严冬明1. 机器人手臂的刚柔耦合建模及摆动模态对比[J]. 中国机械工程, 2012, 23(17): 2092-2097.
[12]	钱立军, 吴道俊, 祝安定, 章适. 基于模态应力恢复的车架疲劳寿命计算研究 [J]. 中国机械工程, 2011, 22(7): 780-784.
[13]	邱明;廖振强;焦卫东;樊黎霞;. 基于刚柔耦合的高方平筛动力学建模与振动模态分析[J]. J4, 2008, 19(24): 0-2903.
[14]	杜兆才, 余跃庆. 5R柔性并联机器人系统运动微分方程[J]. 中国机械工程, 2008, 19(1): 75-79.