空间柔性闭链机器人动力学建模与振动仿真

空间闭链机器人的柔性连杆在高速运行状态下产生的弹性变形对系统振动效应具有重要影响.为准确分析柔性连杆对空间柔性闭链机器人振动特性的影响,采用有限单元法对柔性构件进行离散,基于浮动坐标系法描述构件位移场,最后通过Lagrange方程建立空间刚柔耦合闭链机器人动力学模型及振动方程,并分析系统固有频率和振型函数.基于同等参数...

Dynamic Modeling and Vibration Simulation of Spatial Flexible Closed-chain Robot

The elastic deformation of the flexible link in the spatial closed-chain robot under high-speed operation has an important impact on the vibration effect of the system. In order to accurately analyze the influence of the flexible link on the vibration characteristics of the spatial flexible closed-chain parallel robot, the finite element method was used to discretize the flexible link, and then the component displacement vector was described by the floating frame reference method. Finally, the spatial rigid-flexible coupling closed-chain robot was established based on the Lagrange equations dynamic model and vibration equation, and the system natural frequency and vibration mode function were analyzed. Based on the same parameter conditions, the ADAMS/Vibration module was used to establish the vibration simulation model of the spatial rigid-flexible coupling closed-chain robot, and the self-excited vibration analysis was carried out to study the change of the system natural frequency and the corresponding modal, as well as the different excitations frequency response characteristics under force. The results showed that themotion trajectories of the end-effector of the theoretical and the simulation model were basically the same, and they were also consistent with the natural frequencies of the vibration simulation model, which verified the correctness of the simulation model. As the amplitude of the excitation force increased, the system response was increased. Corresponding to the same excitation frequency, the Y-direction response at the center of mass of the moving platform was the strongest, followed by the X-direction, and the Z-direction was the smallest. Among them, the system corresponding to the 11th to 12th modes had the largest deformation, and the corresponding excitation frequency was 40~60Hz.