刚-柔性机械臂动力学建模及其动力学特性研究
- 文件大小:302.92KB
- 浏览次数:
- 发布时间:2014-03-14
本资料包含pdf文件1个,下载需要1积分
Judged by the assumption mode method, configuration expression and kinematic analysis were used to investigate the rigid-flexible manipulators system. Based on Kane's equation, the dynamie model of rigid-flexible manipulators system was established. Numerical simulation illustrates that interception before the second-order modes can meet the rigid-flexible manipulators system aecuracy. The impact of different structures on the dynamic perfor- mance of flexible manipulator such as physical parameters, material parameters and driving moments were discussed. The results show that by using rectangular seetion, using larger elastic modulus of materials, reducing the external pressure driving moment, avoiding driving moment producing mutations can effectively improve the dynamic performance of rigid-flexible manipulators system.根据假设模态法,对刚-柔性机械臂系统进行了位形表达及运动学分析,基于Kane方程,建立了刚-柔性机械臂系统的动力学模型.数值仿真结果表明,截取前二阶模态即可满足刚-柔性机械臂系统的精度要求;分析了柔性机械臂的结构参数、材料参数和驱动力矩对其动力学特性的影响.研究结果表明:通过采用矩形截面,采用较大弹性模量的材料,减小外部施加的驱动力矩,避免驱动力矩产生突变,可以有效地提高刚-柔性机械臂系统的动力学性能.
- 1T/CAFFCI 9-2018 芳樟醇
- 2二衬台车尺寸图纸
- 3钢烟囱施工组织设计
- 4重庆同兴工业园纵五路道路工程网格护坡施工方案
- 5JB/T 3103.2-1999 锯条开齿机 参数
- 6NY/T 1597-2008 动植物油脂 紫外吸光值的测定
- 7CTCS-3级列控系统应答器应用原则(V1.0)
- 8围墙、大门预算书
- 9集水箱三维模型SolidWorks模型设计
- 10JB3915-1985液压机安全技术条件
- 11建筑遗产可利用性评估
- 12上海迪士尼乐园入户大厅设计施工图纸
- 13闽2017G-127 福建省ECP透水地面系统
- 14ABB机械人配套变位机SolidWorks设计
- 15SN/T 2258-2009 非正品塑料检验鉴定规程