柔性机械臂动力学分布参数模型的建立

柔性机械臂动力学分布参数模型的建立

邹建奇¹, 苏欣², 张京军³

1. 吉林建筑工程学院土木工程学院, 长春 130021; 2.北京石油化工学院数理部, 北京 100262； 3. 河北工程大学, 河北省邯郸 056038

收稿日期:2006-08-25 修回日期:1900-01-01 出版日期:2007-05-26 发布日期:2007-05-26
通讯作者: 邹建奇

Dynamic Equation of Distributedparameter ofa Flexible Robotic Arm and Its Discreteness

ZOU Jianqi¹, SU Xin², ZHANG Jingjun³

1. College of Civil Engineering, Jilin Architectural and Civil Engineering Institute, Changchun 130021, China；2. Department of Mathematics and Physics, Beijing Institute of Petrochemical Technology, Beijing 100262, China；3. Hebei University of Engineering, Handan 056038, Hebei Province, China

Received:2006-08-25 Revised:1900-01-01 Online:2007-05-26 Published:2007-05-26
Contact: ZOU Jianqi

摘要/Abstract

摘要： 以单柔性机械臂为例, 转动动力学的规范理论为基础 , 给出建立分布参数动力学模型的一般方法；并讨论了其离散化问题；通过振动频率的研究探讨了纵向位移和离心力对机械臂的影响；建立了一种合理的精确动力学模型.

关键词: 柔性机械臂, 规范理论, 分布参数模型, 动力学方程

Abstract: With a flexible robotic arm as the example and the gauge theory of rotational dynamics as the basis, a general procedure of formulating distributedparameter model for a flexible robotic arm was developed. The effe cts of axialdeflection and centrifugal force on the robotic arm were investigated by researching vibrating frequency. A simplified, exact dynamic equation for a flexible robotic arm was poposed.

Key words: flexible robotic arm, gauge theory, distributedparam eter model, equation of dynamics

中图分类号:

O313.7

邹建奇, 苏欣, 张京军. 柔性机械臂动力学分布参数模型的建立[J]. J4, 2007, 45(03): 353-357.

ZOU Jianqi, SU Xin, ZHANG Jingjun. Dynamic Equation of Distributedparameter ofa Flexible Robotic Arm and Its Discreteness[J]. J4, 2007, 45(03): 353-357.

[1]	王忠策, 李蕴奇. 基于旋量理论多关节柔性机器人操作臂的逆动力学模型推导与仿真[J]. J4, 2011, 49(01): 98-104.
[2]	卢秀双, 常小军. 运用同伦连续法求解二阶时标边值问题[J]. J4, 2010, 48(06): 949-950.
[3]	杨华，徐旭，胡成栋. 汽车钢板弹簧的非线性分析与数值计算[J]. J4, 2004, 42(01): 54-57.