Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation

Liu Qiang; Ge Weimin; Wang Xiaofeng; Zhang Huiyi

doi:10.16578/j.issn.1004.2539.2018.03.024

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Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation

更新时间：2022-10-20

- Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation
- Vol. 42, Issue 3, Pages: 111-116(2018)
- 作者机构：
  
  1. 天津市先进机电系统设计与智能控制重点实验室
  2. 中国汽车工业工程有限公司
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.03.024
  CLC：
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[1]刘强,葛为民,王肖锋,张会义.机械臂操作受限柔性负载的动力学建模及仿真[J].机械传动,2018,42(03):111-116.

Liu Qiang, Ge Weimin, Wang Xiaofeng, et al. Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation. [J]. 42(3):111-116(2018)
[1]刘强,葛为民,王肖锋,张会义.机械臂操作受限柔性负载的动力学建模及仿真[J].机械传动,2018,42(03):111-116. DOI： 10.16578/j.issn.1004.2539.2018.03.024.

Liu Qiang, Ge Weimin, Wang Xiaofeng, et al. Dynamics Modeling and Simulation of Constrained Flexible Load with Manipulator Operation. [J]. 42(3):111-116(2018) DOI： 10.16578/j.issn.1004.2539.2018.03.024.

摘要

针对机械臂操作受作业环境约束柔性负载,约束力、负载变形不易控制等问题,基于变形旋量理论,结合拉格朗日方程建立了机械臂操作受限柔性负载系统的动力学模型。首先,将系统分解为刚性机械臂与柔性负载两个子系统,分别建立了其动力学方程。然后,根据柔性负载与环境约束力及机械臂末端执行器的约束关系,推导了系统的运动方程。在给定机械臂的运行状态及环境约束力或给定机械臂各关节驱动力矩及负载末端的期望轨迹的情况下,分别推导了系统的逆动力学模型与正动力学模型。最后,通过三自由度（DOF）机械臂操作受限柔性梁进行了仿真,验证了该方法的有效性,并对系统的动力学特性进行了分析。

Abstract

Aiming at the problem that the manipulator operate the flexible load which is constrained by operating environment which the binding force and the load deformation are not easy to control. According to the theory of deformation screw,the dynamics model of the system which manipulator operate the flexible load is established by combining the Lagrangian equation. The system is decomposed into two subsystems: the rigid manipulator and the flexible load. Their dynamics equations are established respectively. According to the constraint relation between the flexible load and the environmental binding force and the end of the manipulator,the motion equation of the system is deduced. In the case of the operating state of a given manipulator and the environmental binding force or the desired trajectory of each joint drive torque and load end of a given manipulator,the inverse kinetics model and the forward dynamics model of the system are deduced. The effectiveness of the proposed method is verified by a 3 DOF manipulator operate a flexible beam.

关键词

柔性负载变形旋量受限运动动力学

Keywords

Flexible loadDeformation screwLimited movementDynamics

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