[1]张庆,王华坤,张世琪,等.预压叠层柔性机械臂弯曲试验及有限元数值仿真[J].南京理工大学学报(自然科学版),2006,(01):8-11.
 ZHANG Qing,WANG Hua-kun,ZHANG Shi-qi.Experimental Research and FEA Simulation on Bending of Pre-pressed Multi-layer Assembled Flexible Link[J].Journal of Nanjing University of Science and Technology,2006,(01):8-11.
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预压叠层柔性机械臂弯曲试验及有限元数值仿真
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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:
期数:
2006年01期
页码:
8-11
栏目:
出版日期:
2006-02-28

文章信息/Info

Title:
Experimental Research and FEA Simulation on Bending of Pre-pressed Multi-layer Assembled Flexible Link
作者:
张庆;王华坤;张世琪;
南京理工大学机械工程学院, 江苏南京210094
Author(s):
ZHANG QingWANG Hua-kunZHANG Shi-qi
School of Mechanical Engineering,NUST,Nanjing 210094,China
关键词:
柔性机械臂 接触 滞迟特性 有限元分析
Keywords:
flexible manipulator contact hysteresis characteristic finite element analysis
分类号:
TH 112
摘要:
为抑制柔性机械臂的振颤,该文提出利用组合构件的滞迟特性来改善机械臂的动力学品质以达到减振的作用;介绍了预压叠层柔性机械臂力—变形本构关系的试验研究及有限元数值仿真。研究了其滞迟特性随预压力、载荷及工作点的变化;分析了叠层结合面的作用机理;表明组合柔性机械臂抑振效果好,结构简单。在用ANSYS进行有限元数值仿真时考虑了几何非线性与叠层之间接触状态非线性的影响,数值仿真结果与试验接近,该方法为组合柔性机械臂的静力学、动力学的研究及设计计算提供了有效手段。
Abstract:
In order to restrain the vibration of a flexible manipulator, an assembled flexible link is used in the flexible manipulator to improve the dynamic performance of the flexible manipulator. Through the exper-i mental research and FEA ( Finite Element Analysis) simulation on bending of pre-pressed mult-i layer assembled flexible link, it is indicated that this kind of flexible link has favorable hysteresis characteristic, which varies with the pre-pressing force, and can effectively restrain the vibration of the flexible manipulator. Moreover, FEA simulation is applied to this kind of flexible link with ANSYS under considering geometric nonlinearity and contac-t status nonlinearity. Its load-deflection graph with the hysteresis characteristic is consistent with the experimental result. This method provides an effective way for the research on the statics and dynamics of the assembled flexible link.

参考文献/References:

[ 1] 余跃庆, 张策, 马金盛. 基于机敏材料的冗余度柔性 机器人弹性动力响应最优控制[ J] . 机械工程学报, 2003, 39( 1) : 123- 127.
[ 2] 宋轶民. 柔性机器人动力学分析与振动控制研究综 述[ J] . 机械设计, 2003, 20( 4) : 1- 5.
[ 3] 郑林庆. 摩擦学原理[M] . 北京: 高等教育出版社, 1994.
[ 4] Wu Ruh- hua, Tung P-i cheng. Studies of stick- slip friction, presliding displacement, and hunting [ J] . ASME Transactions Journal of Dynamic Systems, Measurement, and Control, 2002, 124: 111- 117.
[ 5] 蒋友谅. 非线性有限元[M] . 北京: 北京理工大学出 版社, 1988.

相似文献/References:

[1]张 庆,王华坤,张世琪.组合柔性机械臂抑振性能的仿真及实验研究[J].南京理工大学学报(自然科学版),2007,(05):568.
 ZHANG Qing,WANG Hua-kun,ZHANG Shi-qi.Experimental Research and FEA Simulation on Restraining Vibration of Assembled Flexible Link[J].Journal of Nanjing University of Science and Technology,2007,(01):568.

备注/Memo

备注/Memo:
作者简介: 张庆( 1964- ) , 男, 江苏南京人, 硕士, 副教授, 主要研究方向: 机械动力学, E-mail: dazhang@ mail. njust. edu. cn。
更新日期/Last Update: 2006-02-28