[1]钱震杰,章定国,刘 俊,等.柔性杆柔性铰机器人碰撞动力学建模与仿真[J].南京理工大学学报(自然科学版),2013,37(03):65.
　Qian Zhenjie,Zhang Dingguo,Liu Jun,et al.Impact dynamic modeling and simulation of robots with flexible links and flexible joints[J].Journal of Nanjing University of Science and Technology,2013,37(03):65.
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柔性杆柔性铰机器人碰撞动力学建模与仿真
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《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

卷:
37卷
期数:
2013年03期
页码:
65
栏目:
出版日期:
2013-06-30

文章信息/Info

Title:
Impact dynamic modeling and simulation of robots with flexible links and flexible joints
作者:
钱震杰1; 章定国1; 刘 俊1; 洪嘉振2
1.南京理工大学 理学院,江苏 南京 210094; 2.上海交通大学 工程力学系,上海 200240
Author(s):
Qian Zhenjie1; Zhang Dingguo1; Liu Jun1; Hong Jiazhen2
1.School of Sciences,NUST,Nanjing 210094,China; 2.Department of Engineering Mechanics,Shanghai Jiaotong University,Shanghai 200240,China
关键词:
柔性杆;  柔性铰;  机器人;  碰撞;  动力学;  高次耦合
Keywords:
flexible links;  flexible joints;  robots;  impact;  dynamics;  high-order coupling
分类号:
O313.4
摘要:
为了研究杆和铰的柔性对柔性多体系统碰撞动力学的影响,该文以高次刚柔耦合动力学理论为基础,对由n柔性杆和n转动铰构成的柔性机器人系统进行了碰撞动力学建模与仿真。考虑了柔性杆的拉伸变形、横向弯曲变形、扭转变形、铰的柔性效应和质量。采用Hertz接触理论和非线性阻尼理论描述碰撞力。引入碰撞力势能,运用拉格朗日方程获得碰撞力所对应的广义力,得到了柔性机器人的碰撞动力学方程。编制了柔性杆柔性铰机器人含碰撞的全局动力学仿真软件。通过2个仿真算例分析了高次耦合和铰的柔性效应对柔性机器人系统碰撞动力学行为的影响,验证了该文方法的可行性。
Abstract:
In order to study the effects of the flexibility of links and joints on impact dynamics of flexible systems,the impact dynamics of flexible robots consisting of n links and n revolute joints are modeled and simulated based on the high-order rigid-flexible coupling dynamic theory.All the stretching deformations,bending deformations and the torsional deformations of the flexible links are considered,and the flexibility and the masses of the joints are contained.The Hertzian contact theory and the nonlinear damping theory are adopted to describe the impact forces.The concept of impact force potential energy is introduced,so that the generalized impact forces can be computed easily by employing Lagrange's equations.The impact dynamic equations of the flexible robots are obtained.A software package for the global dynamic simulation of flexible robots containing impact is developed.The dynamic simulations of two examples are given to investigate the influence of high-order coupling and joints flexibility on impact dynamics of the flexible robots,and verify the feasibility of the method presented here.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2012-05-29 修回日期:2012-11-28
基金项目:国家自然科学基金(11272155; 11132007; 10772085); 江苏省“333工程”(BRA2011172); 中央高校基本科研业务费专项资金(30920130112009)
作者简介:钱震杰(1985-),女,博士生,主要研究方向:柔性多体系统碰撞动力学,E-mail:qianzhenjie19851125@gmail.com; 通讯作者:章定国(1967-),男,博士,教授,博士生导师,主要研究方向:多体系统动力学与控制,E-mail:zhangdg419@njust.edu.cn。
更新日期/Last Update: 2013-03-25