计及柔性的移动机械手系统动力学分析-机械制造及其自动化专业论文.docxVIP

计及柔性的移动机械手系统动力学分析 最后进行了数值仿真。该方法适用于对移动柔性轻质机械手末端执行器有高精度定位要求 的动力学研究，并对系统开环控制和闭环控制的策略构建有着重要参考意义。 关键字：轮式线弹性-阻尼悬架；移动柔性机械手；运动学，静力学；动力学；动力学稳 定性 ii 河北工业大学博士学位论文 河北工业大学博士学位论文 DYNAMIC ANALYSIS OF FLEXIBLE MOBILE MANIPULATOR SYSTEM ABSTRACT An effect of an irregular ground-surface applied to the manipulator can be alleviated and impaired due to the existence of an appropriate suspension system. Mobile flexible manipulators exhibit many advantages over mobile rigid ones: they require less material, are lighter in weight, consume less power, require smaller actuators, are more maneuverable and transportable, have less overall cost and higher payload to robot weight ratio. But mobile flexible manipulators have kinematic and dynamic couplings with suspension systems, as well as there exist dynamic couplings between the reference motion and the elastic deformation of their components, and elastic vibration of mobile manipulators’ end effector and so on. Dynamic models of suspension mobile flexible manipulators are the models of lot’s of degrees of freedom, multi-variable ,multi-parameter and highly nonlinear. These characters of mobile manipulators lead to the complicated nature of its dynamics. Dynamic modeling is an important component of dynamics. It has interesting meanings and directions as to modeling the system forward and inverse dynamic models of wheeled-suspended mobile flexible manipulators, how to evaluate system dynamic stability, the choice of following control strategies and optimizing trajectory and so on. Based on the multi-body dynamics, the elastic suspension systems and the elastic deformation of components which are discretized according to Rayleigh-Ritz or finite element methods and dynamic couplings of between elastic deformation of components and reference motion of components, are included. The system integrated kinematics and dynamics and statics and dynamic transient stability and determination of some system parameters, which are carried out to numeric si