多杆空间柔性机器人递推Lagrange动力学建模和仿真

章定国

doi:10.3879/j.issn.1000-0887.2009.10.008

多杆空间柔性机器人递推Lagrange动力学建模和仿真

doi: 10.3879/j.issn.1000-0887.2009.10.008

章定国

南京理工大学理学院,南京210094

基金项目: 国家自然科学基金资助项目(10772085);江苏省自然科学基金资助项目(BK2007205);江苏省“青蓝工程”资助项目;南京理工大学青年学者基金(NJUST200504)的资助

详细信息

作者简介:
章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).

中图分类号: O313.7
计量
- 文章访问数: 1533
- HTML全文浏览量: 96
- PDF下载量: 2271
- 被引次数: 0
出版历程
- 收稿日期: 2008-08-15
- 修回日期: 2009-08-16
- 刊出日期: 2009-10-15

Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

ZHANG Ding-guo

School of Sciences, Nanjing University of Science and Technology, Nanjing 210094, P. R. China

摘要

摘要: 研究了多杆空间柔性机器人的动力学问题．运用Lagrange方法，结合齐次变换矩阵，推导得到了多杆空间柔性机器人动力学方程，在推导过程中采用了运动学递推策略以提高计算效率．建模时除考虑柔性构件的横向弯曲变形外，还计及了构件的扭转变形．基于上述理论研制了多杆空间柔性机器人动力学仿真软件，并对一空间柔性机器人进行了动力学仿真计算，验证了理论和软件的先进性能
- 柔性机器人 /
- 动力学 /
- 数值模拟 /
- 建模
Abstract: The dynamics for multi-link spatial flexible manipulatorarm sconsisting of nlinks andnrotary joints is investigated Kinematics of both the rotaryjoint motion and the link deformation were described by 4×4 homogenous transformation matrices, and the Lagrangian equations were used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics was adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link were taken in to account. Based on the presented method a general-purpose soft ware package for dynamic smiulation was developed. To validate the algorithm presented, the dynamic simulation of a spatial flexible manipulatorarm was given as anexample.
- flexible manipulatorarm /
- dynamics /
- numericals miulation /
- modeling

HTML全文

参考文献(20)

[1]	Fu K S, Gonzalez R C, Lee C S G. Robotics: Control, Sensing, Vision, and Intelligence[M]. New York ：McGraw-Hill, Inc, 1987.
[2]	Angeles J. Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms[M]. New York：Springer-Verlag, 2002.
[3]	Sunada W H, Dubowsky S. On the dynamic analysis and behavior of industrial robotic manipulators with elastic members[J]. Transactions of the ASME Journal of Mechanisms, Transmissions, and Automation in Design, 1983, 105（1）:42-51. doi: 10.1115/1.3267343
[4]	Book W J. Recursive Lagrangian dynamics of flexible manipulator arms[J]. The International Journal of Robotics Research, 1984, 3(3):87-101. doi: 10.1177/027836498400300305
[5]	Usoro P B, Nadira R, Mahil S S. A finite element/Lagrange approach to modeling lightweight flexible manipulator[J]. Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, 1986,108(3):198-205. doi: 10.1115/1.3143768
[6]	Wang P K C, WEI Jin-duo. Vibrations in a moving flexible robot arm[J].Journal of Sound and Vibration, 1987,116(1):149-160. doi: 10.1016/S0022-460X(87)81326-3
[7]	Naganathan G, Soni A H. Coupling effects of kinematics and flexibility in manipulators[J]. The International Journal of Robotics Research, 1987, 6(1): 75-84. doi: 10.1177/027836498700600106
[8]	Low K H, Vidyasagar M. A Lagrangian formulation of the dynamic model for flexible manipulator systems[J]. Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, 1988, 110（2）:175-181. doi: 10.1115/1.3152668
[9]	Naganathan G, Soni A H. Nonlinear modeling of kinematic and flexibility effects in manipulator design[J].Transactions of the ASME Journal of Mechanisms, Transmissions, and Automation in Design, 1988, 110（3）:243-254. doi: 10.1115/1.3267454
[10]	Cyril X. Dynamics of flexible-link manipulators[D]. Ph D Thesis. Montreal: Department of Mechanical Engineering, McGill University, 1988.
[11]	Jonker B. A finite element dynamic analysis of flexible manipulators[J]. The International Journal of Robotics Research, 1990, 9(4):59-74. doi: 10.1177/027836499000900404
[12]	管贻生,安永辰. 机器人手臂弹性动力学分析的Kane方法[J].机器人, 1992, 14(1): 45-51.
[13]	潘振宽,洪嘉振,刘延柱.柔性机械臂动力学方程单向递推组集建模方法[J].力学学报，1993,25(3):327-333.
[14]	Meirovitch L, Stemple T. Hybrid equations of motion for flexible multibody systems using quasi-coordinates[J]. Journal of Guidance, Control, and Dynamics, 1995,18(4):678-688. doi: 10.2514/3.21447
[15]	CHEN Wen. Dynamic modeling of multi-link flexible robotic manipulators[J]. Computers and Structures, 2001, 79(2):183-195. doi: 10.1016/S0045-7949(00)00129-2
[16]	LIU Jin-yang, HONG Jia-zhen. Geometric stiffening of flexible link system with large overall motion[J]. Computers and Structures, 2003, 81(32):2829-2841. doi: 10.1016/j.compstruc.2003.07.001
[17]	〖JP3〗边宇枢,陆震. 柔性机器人动力学建模的一种方法[J]. 北京航空航天大学学报，1999, 25(4):486-490.
[18]	Al-Bedoor B O, Almusallam A A. Dynamics of flexible-link and flexible-joint manipulator carrying a payload with rotary inertia[J]. Mech Mach Theory, 2000, 35(6):785-820. doi: 10.1016/S0094-114X(99)00043-9
[19]	〖JP3〗章定国, 周胜丰. 柔性杆柔性铰机器人动力学分析[J]. 应用数学和力学, 2006, 27(5): 615-623.
[20]	Nguyen P K, Hughes P C. Teleoperation: from the space shuttle to the space station[J]. Progress in Astronautics and Aeronautics, 1994, 161:353-410.

施引文献

资源附件(0)

访问统计

点击查看大图

计量

文章访问数: 1533
HTML全文浏览量: 96
PDF下载量: 2271
被引次数: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

留言板

多杆空间柔性机器人递推Lagrange动力学建模和仿真

doi: 10.3879/j.issn.1000-0887.2009.10.008

作者简介:
章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).

计量

Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

计量

目录

留言板

多杆空间柔性机器人递推Lagrange动力学建模和仿真

doi: 10.3879/j.issn.1000-0887.2009.10.008

作者简介: 章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).

计量

出版历程

Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

计量

出版历程

目录

作者简介:
章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).