柔性空间机械臂的动力学仿真及控制

摘要

This paper introduces the basic theory of flexible manipulator and method used to establish its model and creates the mo-dal neutal file of the space manipulator with ANSYS. And then, the file is imported to ADAMS to replace the rigid part of the flexible body and its dynamics simulation is comducted and the effect of its kinetic characteristics on manipulator is analyzed. The feedback control unit is created in simulink. The co-simulation of ADAMS and MATLAB is conducted to regulate the motion trajectory of the space manipulator. The reference and basis are provided for its optimal design.%介绍了柔性机械臂的基本理论及建模方法，利用有限元软件ANSYS创建机械臂的模态中性文件，并导入到多体系统动力学仿真软件ADAMS中，替换掉机械臂的相应刚性结构部分，进行运动学和动力学仿真，对比分析柔性体对机械臂末端执行器运动精度及动力学特性的影响，再进行ADAMS和MATLAB的联合仿真，在simulink中建立反馈控制方案，实现机械臂末端执行器运动轨迹的精确调控，为空间机械臂的优化设计提供参考和依据。