| 平面柔性欠驱动机械臂的非线性动力学分析 |
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| 引用本文： | 何广平,陆震.平面柔性欠驱动机械臂的非线性动力学分析[J].中国航空学报,2005,18(1):78-82. |
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| 作者姓名： | 何广平 陆震 |
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| 作者单位： | School of Mechanical and Electrical Engineering，North China University of Technology，Beijing 100041，China，School of Automation Science and Electrical Engineering，Beijing University of Aeronautics and Astronautics，Beijing 100083，China |
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| 基金项目： | Foundation item： National Natural Science Foundation of China （50375007,50475177） |
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| 摘 要： | 研究了平面柔性欠驱动机械臂中被动关节对系统动态特性的影响 ,在动力学分析的基础上 ,提出了一种基于内共振原理的柔性欠驱动机械臂振动控制方法。在对系统的稳态周期运动进行分析研究的基础上 ,发现处于自由摆动状态的被动关节的平衡位置随系统结构的振动而发生漂移 ,并且被动关节平衡位置的漂移速度和方向与周期输入的振幅有关。提出利用结构柔性产生的振动实现被动关节位置控制的方法 ,通过平面二连杆柔性欠驱动机械臂进行了仿真计算
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| 关 键 词： | 动力学与振动 机械臂 欠驱动 非线性 内共振 |
| 文章编号： | 1000-9361（2005）01-0078-05 |
| 收稿时间： | 2004-02-26 |
| 修稿时间： | 2004-07-05 |
Nonlinear Dynamic Analysis of Planar Flexible Underactuated Manipulators |
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| He GuangPing;Liu Zhe.Nonlinear Dynamic Analysis of Planar Flexible Underactuated Manipulators[J].Chinese Journal of Aeronautics,2005,18(1):78-82. |
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| Authors: | He GuangPing;Liu Zhe |
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| Abstract: | The influence of passive joint on the dynamics of planar flexible underactuated manipulators is studied. A vibration reduction method based on the internal resonance phenomenon of multi-degree nonlinear dynamic system is proposed. The dynamic simulation results reveal that the harmonic input for the actuated joint will induce the passive joint deviating from its equilibrium position, the excursion speed and direction depend on the amplitude of the input. A passive joint position control scheme making use of the vibration of the flexible structure is suggested, and the numerical simulation results of a model of planar two-link flexible underactuated manipulator is shown. |
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| Keywords: | dynamics and vibration manipulator underactuated nonlinear internal resonance |
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