徐晨, 张景绘, 史维祥. 一个高精度单臂柔性机械手的动力学模型[J]. 机器人, 1992, 14(5): 8-13.
引用本文: 徐晨, 张景绘, 史维祥. 一个高精度单臂柔性机械手的动力学模型[J]. 机器人, 1992, 14(5): 8-13.
XU Chen, ZHANG Jinghui, SHI Weixiang. A HIGH ACCURACY DYNAMIC MODEL FOR ONE-LINK FLEXIBLE MANIPULATORS[J]. ROBOT, 1992, 14(5): 8-13.
Citation: XU Chen, ZHANG Jinghui, SHI Weixiang. A HIGH ACCURACY DYNAMIC MODEL FOR ONE-LINK FLEXIBLE MANIPULATORS[J]. ROBOT, 1992, 14(5): 8-13.

一个高精度单臂柔性机械手的动力学模型

A HIGH ACCURACY DYNAMIC MODEL FOR ONE-LINK FLEXIBLE MANIPULATORS

  • 摘要: 在柔性机械手有限元/拉格朗日动力学模型基础上,本文给出了一个高精度单臂柔性机械手动力学模型.提高建模精度的研究从两方面着手.首先在数值方法上,运用延拓有限元的思想导出了优化的有限元形状函数,从而在不大量增加计算量的前提下提高了模型精度.进而从物理机理出发,运用结构动力学中的一些结论,引入结构粘性阻尼的影响到模型中.最后将该模型应用于考察结构柔性对单臂机械手力反馈控利系统性能的影响.

     

    Abstract: On the basis of the finite element/Lagrange dynamic model for flexible manipulators,a high accuracy dynamic model for one-link flexible manipulators is given in this paper.The researches for increase of the modelaccuracy are made by two means.First we utilize the concept of extension finite element for deriving optimalshape functions2,by which we get the model accuracy increased without too much additional computation compared to that in1.Then we quote some,conclusions in structure dynamics to take the effect of structure viscous damping into account.Finally we employ the high accuracy model to investigate the effect ofstructure flexibility on performance of force-feedback control systems of one-link manipulators.

     

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