平面双连杆受限柔性机器人臂的动力学建模*

Dynamic Modeling for a Class of Constrained PlanarTwo-Link Flexible Manipulators

中文关键词  柔性机器人臂  受限运动  动力学建模  D'Alembert-Lagrange原理  Lagrange动力学方程

英文关键词  flexible rnanipulator arm  constrained motion  dynamic modeling,D'Ale principle  Lagrange dynamic equations

中文摘要

      对一类平面双连杆受限柔性机器人臂的动力学建模问题进行研究，利用D'Alembert-Lagrange原理得到了一组描述该机器人系统运动性态的动力学方程，与已有的动力学模型相比，本文所建立的运动方程和振动方程具有模型准确、结构简单等特点，且具有与传统无约束刚性机器人类似的模型形式，因而有可能直接或间接利用现有的关于刚性机器人运动控制等方面的成果来研究复杂的受限柔性机器人的控制问题.

英文摘要

      Based on the D'Alembert-Lagrange principle，this paper discusses the dynamic modeling prob-lem for a class of constrained planar two-link flexible manipulators，and establishes a set of dynamic equations which describe the motion of the robotic systems under discussion. Compared with the present dynamic mod-els for same robotic manipulator systems. The motion equations and vibration equations built up here are more precise and simpler. Moreover. this dynamic model has a similar configuration with unconstrained. rigid-link manipulators，which make the direct or indirect use of the powerful motion control. resettles for rigid robots possible to study the hybrid position/force controlof the constrained flexible manipulators.