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针对柔性机械臂约束、非约束模态降维的动力学绝对误差问题,可采用有限元法描述柔性变形,并应用拉格朗日法建立其动力学模型,分别利用约束和非约束模态进行降维,来比对两种降维方法的绝对精度。仿真结果表明:约束、非约束模态降维模型都具有较高的动力学精度,取相同阶数的非约束模态动力学精度更高,而约束模态的误差具有随时间累积的特点。
According to the problem of dynamic absolute error of flexible manipulator constrained and unconstrained modal dimensionality reduction, the finite element method can be used to describe the flexible deformation, and the dynamic model of the flexible manipulator is established by using Lagrange method. The constrained and unconstrained modes are used respectively Dimension reduction, to compare the absolute accuracy of the two dimensionality reduction methods. The simulation results show that both constrained and unconstrained modal dimensionality reduction models have higher dynamic accuracy, and take the same order of non-constrained modal kinetic accuracy is higher, while the constraint modal error with time accumulation.