【摘要】 针对末端位置受约束的双连杆柔性机械臂,通过哈密顿原理得到系统的分布参数模型,推导了描述关节角,柔性杆振动和接触力之间关系的动力学模型。根据3个假设条件推导柔性臂简化的集中参数动力学模型及准静态方程,利用了计算力矩法设计的控制器对模型进行控制,通过Matlab进行仿真,利用Matlab的符号运算功能,编制M文件实现数学模型自动推导,整个建模和运算过程简单、直观和高效,并绘制了参数轨迹图像,验证了模型的有效性,已应用到小波神经网络控制算法研究中。更多还原

【Abstract】 The dynamic modeling for planar two flexible link manipulators is discussed.A numeric model based on the Hamilton’s principle is obtained,which describes a distributed parameter model and dynamic equations of joint angles,vibration of flexible links and contact force of constrained planar two flexible link manipulators.On the basis of three assumptions,the dynamic model and quasi-static equations are derived,to test the validity of the model,using controller to control the model,through simulation with Matlab software.The research also provides theoretic instructions for developing dynamic control system with flexible manipulators.更多还原