本文選題：柔性機(jī)械臂　切入點(diǎn)：剛-柔耦合系統(tǒng)　出處：《東北大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著科學(xué)技術(shù)的發(fā)展,柔性材料在工程機(jī)械中已大量使用,它具有操作速度快、能量消耗少、構(gòu)件緊湊、載荷質(zhì)量比大等優(yōu)點(diǎn)。但是,由于柔性構(gòu)件高速運(yùn)動時,存在大范圍運(yùn)動與和彈性變形相互耦合,系統(tǒng)的動力學(xué)特性也更加復(fù)雜,具有強(qiáng)非線性、強(qiáng)耦合、時變等特點(diǎn),因此對其動力學(xué)建模與控制的研究具有重要的理論意義和實(shí)際應(yīng)用價值。 柔性機(jī)械臂是一種典型的剛-柔耦合系統(tǒng),在航空航天、機(jī)器人等許多高科技領(lǐng)域有著強(qiáng)烈的工程應(yīng)用背景。本文以平面運(yùn)動的,帶有末端質(zhì)量的中心剛體-柔性機(jī)械臂和兩桿剛-柔機(jī)械臂系統(tǒng)為例,著重研究了其動力學(xué)建模理論、動力學(xué)特性、同步控制方法和動態(tài)測試實(shí)驗(yàn)等問題,為復(fù)雜的多柔體系統(tǒng)動力學(xué)的研究奠定了一定基礎(chǔ)。其主要內(nèi)容包括： 首先,采用假設(shè)模態(tài)法和Lagrange原理,建立中心剛體-柔性機(jī)械臂的一次近似耦合動力學(xué)模型；分析模態(tài)截斷對模型精度的影響;分析零次近似耦合模型和一次近似耦合模型的精度和適用范圍；分析機(jī)械臂不同轉(zhuǎn)速和不同末端質(zhì)量對其動態(tài)特性的影響。在此基礎(chǔ)上,建立兩桿剛-柔機(jī)械臂的動力學(xué)方程,討論在大范圍運(yùn)動已知條件下和大范圍運(yùn)動未知條件下,其動力學(xué)響應(yīng)。 其次,提出一種基于狀態(tài)觀測器的反饋同步控制策略,對柔性機(jī)械臂系統(tǒng)的大范圍運(yùn)動與機(jī)械臂彈性變形進(jìn)行綜合控制,并且討論了控制器參數(shù)對同步控制效果的影響。 然后,結(jié)合ADAMS及ANSYS軟件,建立柔性機(jī)械臂的可視化動力學(xué)仿真系統(tǒng)。分別采用ANSYS和ADAMS/AutoFlex兩種方法建立ADAMS的柔性體,對比分析ANSYS-ADAMS動力學(xué)仿真、ADAMS/AutoFlex仿真和MATLAB編程求解動力學(xué)方程的結(jié)果。 最后,建立基于CCD和圖像處理技術(shù)的柔性機(jī)械臂動態(tài)響應(yīng)測試系統(tǒng),最終得到柔性機(jī)械臂時域的動態(tài)響應(yīng),以及時頻三維譜圖、頻率和阻尼比。
[Abstract]:With the development of science and technology, flexible materials have been widely used in construction machinery. It has the advantages of fast operation speed, less energy consumption, compact components and large load-mass ratio. The dynamic characteristics of the system are more complex and have the characteristics of strong nonlinear, strong coupling, time-varying and so on. Therefore, the study of its dynamic modeling and control has important theoretical significance and practical application value. Flexible manipulator is a typical rigid-flexible coupling system, which has a strong engineering application background in many high-tech fields such as aerospace, robot and so on. The dynamic modeling theory, dynamic characteristics, synchronous control methods and dynamic test experiments of a central rigid-body flexible manipulator and a two-bar rigid-flexible manipulator with end mass are studied as examples. It lays a foundation for the study of complex multi-flexible system dynamics. The main contents are as follows:. Firstly, the first order approximate coupling dynamic model of the central rigid-flexible manipulator is established by using the hypothesis mode method and Lagrange principle, and the influence of modal truncation on the model accuracy is analyzed. The accuracy and application range of the zero order approximate coupling model and the first order approximate coupling model are analyzed, and the effects of different rotating speed and different end mass on the dynamic characteristics of the manipulator are analyzed. On this basis, the dynamic equations of the two-bar rigid-flexible manipulator are established. The dynamic response is discussed under the condition of known large range motion and unknown condition of large range motion. Secondly, a feedback synchronization control strategy based on state observer is proposed to control the wide range motion and elastic deformation of the flexible manipulator. The effect of controller parameters on the synchronization control effect is discussed. Then, combining with ADAMS and ANSYS software, the visual dynamic simulation system of flexible manipulator is established, and the flexible body of ADAMS is built by ANSYS and ADAMS/AutoFlex, respectively. The results of ANSYS-ADAMS dynamics simulation, Adams / AutoFlex simulation and MATLAB programming for solving dynamic equations are compared and analyzed. Finally, the dynamic response test system of flexible manipulator based on CCD and image processing technology is established. Finally, the dynamic response of the flexible manipulator in time domain is obtained, so that the three-dimensional spectrum, frequency and damping ratio of the flexible manipulator can be obtained in time.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TP241;TH113

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本文編號：1613915