空间机械臂的刚-柔耦合动力学研究

本文对作大范围运动的空间机械臂的刚-柔耦合动力学特性进行了研究，从连续介质力学理论出发，在变形位移中计及了耦合变形量，用Jourdain速度变分原理导出了作大范围运动的空间机械臂的动力学方程，分别用耦合模型和不计耦合变形量的零次近似模型计算了机械臂端点的变形位移，揭示了两种模型的动力学性质的差异。为了确定零次近似模型的适用范围，引入相关系数，仿真计算结果表明，零次近似模型仅适用于相关系灵敏的最大值小于0.1的情况。

Study on rigid-flexible coupling dynamics of space-based manipulator

In this paper,the rigid flexible coupling dynamic property of the space based manipulator is studied.Based on continuum medium mechanics,the second order coupling terms of the deformation motion are included.The coupling dynamic equations of the space based manipulator are obtained by use of Jourdain's velocity variational principle.The deformation displacement of the tip of the manipulator is calculated utilazing the zero order approximate model,which ignores the coupling deformation terms,and the coupling model.The difference of the dynamic property between the zero order model and the coupling model is revealed.The coupling coefficient,which is a full new concept related to the rotating speed and the base acceleration,is put forward for the first time as a criteria to determine the suitable range of the zero order approximate dynamic model.It is shown that the zero order approximate dynamic model is applicable only when the coupling coefficient is less than 0 1.