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针对轮式2杆刚-柔平面移动机械手逆动力学问题进行了系统研究。采用Pin-free边界条件,对机械手柔性构件进行了离散,采用有限元法分别构建了该移动机械手系统的完整正、逆动力学模型。在频域下,求解了系统驱动力(矩)和弹性构型变量,并在时域内对驱动力矩进行了修正,并对修正力矩和构型变量进行了累计误差分析。为了验证建模方法的有效,进行了大量数值仿真工作,仿真结果显示了其有效性和可行性。
A systematic study was conducted on the inverse dynamics of wheeled 2-bar rigid-flexible manipulators. The Pin-free boundary conditions are used to discretize the flexible members of manipulator. The complete positive and negative dynamic models of the manipulator system are constructed respectively by finite element method. In the frequency domain, the system driving force (moment) and elastic configuration variables are solved, and the driving torque is corrected in the time domain, and the cumulative error is analyzed for the revised moment and configuration variables. In order to verify the effectiveness of the modeling method, a large number of numerical simulation work has been carried out. The simulation results show its effectiveness and feasibility.