留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

柔性杆柔性铰机器人动力学分析

章定国 周胜丰

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.
引用本文: 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.
ZHANG Ding-guo, ZHOU Sheng-feng. Dynamic Analysis of Flexible-Link and Flexible-Joint Robots[J]. Applied Mathematics and Mechanics, 2006, 27(5): 615-623.
Citation: ZHANG Ding-guo, ZHOU Sheng-feng. Dynamic Analysis of Flexible-Link and Flexible-Joint Robots[J]. Applied Mathematics and Mechanics, 2006, 27(5): 615-623.

柔性杆柔性铰机器人动力学分析

基金项目: 教育部留学回国人员科研启动基金
详细信息
    作者简介:

    章定国(1967- ),男,浙江嘉善人,教授,博士(联系人.Tel:+86-25-84315639;E-mail:zhangdg419@163.com).

  • 中图分类号: O313.7

Dynamic Analysis of Flexible-Link and Flexible-Joint Robots

  • 摘要: 研究由N柔性杆和N柔性铰组成的空间机器人的动力学问题.把柔性铰简化成一个线性扭转弹簧,采用假设模态法表示杆件的弹性变形,运用Kane方法对全柔机器人进行动力学建模,推导出完整的系统动力学方程组.通过一个数值仿真算例,验证所做工作的可行性,并分析了柔性效应对机器人动力学响应的影响.
  • [1] Fu K S,Gonzalez R C,Lee C S G.Robotics: Control,Sensing,Vision,and Intelligent[M].New York:McGraw-Hill Book Company,1987,82—148.
    [2] Angeles J.Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms[M].New York:Springer-Vertag,2002,213—439.
    [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,1983,105:42—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,1986,108:198—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,1988,110:175—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,1988,110:243—254. doi: 10.1115/1.3267454
    [10] 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.
    [11] Spong M W.Modeling and control of elastic joint robots[J].Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control,1987,109(4):310—319. doi: 10.1115/1.3143860
    [12] Readman M C,Bélanger P R. Stabilization of the fast modes of a flexible-joint robot[J].The International Journal of Robotics Research,1992,11(2):123—134. doi: 10.1177/027836499201100203
    [13] Ahmad S. Constrained motion (force/position) control of flexible joint robots[J].IEEE Transactions on Systems, Man, and Cybernetics,1993,23(2):374—381. doi: 10.1109/21.229451
    [14] Al-Ashoor R A,Patel R V, Khorasani K.Robust adaptive controller design and stability analysis for flexible-joint manipulations[J].IEEE Transactions on Systems, Man, and Cybernetics,1993,23(2):589—602. doi: 10.1109/21.229473
    [15] Jankowski K P,van Brussel H.Inverse dynamics task control of flexible joint robots-Part Ⅰ:continuous-time approach;Part Ⅱ:discrete-time approach[J].Mech Mach Theory,1993,28(6):741—762. doi: 10.1016/0094-114X(93)90018-Q
    [16] Xi F,Fenton R G.Coupling effect of a flexible link and a flexible joint[J].The International Journal of Robotics Research,1994,13(5):443—453. doi: 10.1177/027836499401300505
    [17] 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, 2000,35:785—820. doi: 10.1016/S0094-114X(99)00043-9
    [18] 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.
  • 加载中
计量
  • 文章访问数:  2865
  • HTML全文浏览量:  175
  • PDF下载量:  837
  • 被引次数: 0
出版历程
  • 收稿日期:  2004-09-16
  • 修回日期:  2005-12-27
  • 刊出日期:  2006-05-15

目录

    /

    返回文章
    返回