基于 MATLAB 的柔性机械臂动力学分析

摘要

In this paper ,the dynamic model of a flexible robot arm was set up by the combination of finite element method (FEM ) and Langrange equation method .Then the dynamic characteristics of the flexible robot arm system were described by mathematic symbolic algorithm using MATLAB program ,which considing the influences of nonlinear factors such as load and friction .This work may lay a theoretical foundation for mechanical design and controling of flexible manipulator .%针对柔性机械臂系统，通过有限元法（FEM ）和Lagrange方程相结合的方法建立柔性机械臂的动力学模型，然后通过数学软件MATLAB对数学符号的处理，描述了柔性机械臂单臂系统的动态特性，考虑了载荷和摩擦等非线性因素的影响，为柔性机械臂的机械设计、控制设计等方面奠定了理论基础。