机器人拉杆超静定吊装动力学问题研究.pdfVIP

机械工程师

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MECHANICALENGINEERMECHANICALENGINEER

机器人拉杆超静定吊装动力学问题研究

汤受鹏

(山东商务职业学院机电工程系，山东烟台264670)

摘要：

利用刚体动力学理论和线弹性体变形理论，研究了一种机器人采用多根拉杆吊装刚体的超静定结构动力学问题，

在忽略拉杆惯性效应而仅仅考虑吊装刚体惯性效应的前提下列出了刚体运动满足的动力学方程组，利用材料力学给出了

拉杆动变形，通过联立求解得到了拉杆动响应的精确解，并与忽略动力效应的超静定静力问题的解做了比较分析，说明了

吊装刚体惯性效应对拉杆动态应力和变形的影响。文中分析方法和结论对于机器人拉杆吊装系统等类似结构的强度设计

和优化设计具有一定的理论参考意义，对于检验数值算法的精度也具有重要参考价值。

关键词：

机器人拉杆吊装；超静定；惯性效应；动变形；动应力

中图分类号:TP212.12