考虑电机绕组特性的柔性机械臂动力学建模

摘要

针对柔性机械臂运动中存在的形变现象进行柔性体动力学建模,引入耗散能描述轴承间黏性阻尼,引入关节等效形变描述关节柔性,引入模态假设法描述连杆柔性,引入电机绕组特性描述电机驱动力矩并通过拉格朗日方程建立动力学方程;对模型进行仿真求解,计算出不同传动比和附加重量质心工况下连杆末端的形变,通过对比分析求得连杆末端形变与传动比和附加重量质心之间的关系,为后期机械臂设计优化提供理论基础.%The flexible-body dynamic model of flexible manipulators is established for the analysis of manipulator deformation.The dissipative energy is introduced to describe viscous damping in bearings.The equivalent deformation of the joints is proposed to describe the flexibility of the joints.The modal assumption method is used to describe the flexibility of the link.The motor winding characteristics are employed to describe the motor drive torque and the dynamic equation is established based on Lagrange principle. The model is solved numerically and the deformation at the ends of the link is calculated for different transmission ratio and different position of the mass centroid of the additive mass,and their relation is found.This work provides a theoretical foundation for further optimization design of manipulators.