【摘要】 利用动态子结构法研究一种柔性车载液压机械手的弹性动力学建模方法。考虑机械手动态设计和振动主动控制的实现,根据机械手各部件的实际边界约束条件,将机械手系统分解成由不同约束的连续梁构成的9个子结构,且在液压作动器的作用点设置约束模态坐标,以方便机械手振动主动控制方程的导出。在建立各子结构的动力学控制方程后,借助边界条件经综合得到系统的动力学模型。该方法易于实现、计算效率高,便于讨论结构参数对低阶模态的影响规律,也为机械手的振动控制提供了理论基础。更多还原

【Abstract】 The CMS method was used in the elastic dynamics modeling of a vehicle flexible robot system.On the basis of dividing the whole system into nine substructures and establishing their dynamics models respectively,the whole dynamics equation of the system was derived according to the boundary constraints.The substructures were looked as several beams with different constraints.The method enjoys the advantages of simplicity and high efficiency, which is convenient to study the influences of the geometrical parameters on the low-order modes.The location of the hydraulic actuators were defined by the boundary coordinates,which would be convienience to get the control state equations.更多还原