计及杆件柔性的机械手动力学建模与分析-机械工程专业论文.docxVIP

河北工业大学硕士学位论文 河北工业大学硕士学位论文 iii iii DYNAMICS MODELING AND ANALYSIS OF THE MANIPULATOR WITH FLXIBLE LINKS ABSTRACT As an important research issue of the multibody system dynamics field, the dynamic modeling and analysis of the flexible manipulator is the researching hotspot at present. Compare with the rigid manipulator, flexible parts led to great changes of the dynamic performance. Establishing an accurate dynamic model is the main content of the dynamic analysis and control. This thesis studies the dynamic modeling and analysis of a class of manipulator with flexible links, which revealing the unique dynamic characteristic of flexible multi-body system, and provide a theoretical basis for further research of the dynamic control. The main work and result of the research in this thesis as follows: Firstly, based on assumed modes method and Lagrange equations, this thesis establish the dynamic equations of a manipulator with two flexible links, deduct the kinetic equation with the help of the symbolic computation software Mathematica, and then write the numerical solution program and get the dynamic response applying fourth-order Runge-Kutta numerical integration method. Simulation result shows the coupling phenomenon of the elastic deformation with the rigid movement caused by the flexible links. Secondly, The dynamics simulation analysis of rigid robot manipulator and flexible-link robot manipulator has been carried out respectively by using three-dimensional modeling software UG and dynamic simulation software ADAMS based on the appropriate simplification of HEBUT-2 robot in this laboratory. The main difference of whether considering the link flexiblity or not by comparing simulation results lies in the changes of angle acceleration. In addition a detailed analysis of the joint angle error has been done. KEY WORDS：mutibody dynamics，manipulator with flexible links，dynamic modeling， numerical simulation，ADAMS i i 原创性声明 本人郑重声明：所呈交的学位论文，是本人在导师指导下，进行研究工作所取得的成 果。除文中已经注明引用