| 双连杆柔性机械臂的动力学仿真 |
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| 引用本文： | 郭军,李传辉,代桂成.双连杆柔性机械臂的动力学仿真[J].宇航学报,2006,27(5):1044-1049. |
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| 作者姓名： | 郭军 李传辉 代桂成 |
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| 作者单位： | 北京航空航天大学,宇航学院,北京,100083 |
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| 基金项目： | 北京航空航天大学校科研和校改项目;国家高技术研究发展计划(863计划) |
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| 摘 要： | 基于柔性杆件的有限段模型，利用Lagrange方程建市了包含刚性支座的双连杆柔性机械臂的刚、柔混合多体系统动力学模型并完成了系统的动力学仿真。仿真结果表明，有限段方法用于处理含柔性杆件的多柔体系统动力学问题是行之有效的，既可在宏观层次上模拟各柔性臂的大范围刚体运动，又可在微观层次上模拟各柔性臂的弹性振动，能够准确地反映此类系统刚柔耦合运动特性。
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| 关 键 词： | 柔性机械臂 有限段方法 动力学仿真 多柔体系统动力学 |
| 文章编号： | 1000-1328（2006）05-1044-06 |
| 收稿时间： | 05 15 2006 12:00AM |
| 修稿时间： | 2006-05-152006-07-20 |
Dynamic Simulation of Two Links Flexible Manipulator |
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| GUO Jun,LI Chuan-hui,DAI Gui-cheng.Dynamic Simulation of Two Links Flexible Manipulator[J].Journal of Astronautics,2006,27(5):1044-1049. |
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| Authors: | GUO Jun LI Chuan-hui DAI Gui-cheng |
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| Institution: | School of Space Technology, Beihang University, Beijing 100083, China |
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| Abstract: | A hybrid multi-body system composed of two flexible manipulators and rigid pedestals is considered in this paper.The dynamical model of the system is established based on Lagrange principle using Finite Segment Method(FSM) and numerical simulation is performed.The simulation result demonstrates that FSM is an effective method to study the dynamics of multi-links flexible manipulators;both the large overall motion and the small elastic vibration of each manipulator can be represented in detail. |
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| Keywords: | Flexible manipulators Finite segment method Dynamic simulation Dynamics of flexible multi-body system |
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