【摘要】 柔性机械臂具有质量轻、能耗低、灵敏性高等优点，近年来在航空航天、机器人、军事等高科技领域被广泛应用。针对两端铰接中间亦铰接的双柔性机械臂，将其简化为多柔体梁系统。基于绝对节点坐标法推导其质量矩阵和非线性刚度矩阵，进而建立动力学模型，并采用能量原理验证模型的正确性。之后对集中荷载作用下两端铰接多柔体梁的振动响应进行分析，使用非线性能量阱对其振动进行抑制。结果表明，非线性能量阱能对多柔体梁系统由外载荷激起的振动进行有效地抑制。此外，随着非线性能量阱质量参数的增加，系统振动幅值衰减得更快，系统的振动能量损耗更迅速。更多还原

【Abstract】 Flexible manipulator has the advantages of light weight, low energy consumption, high sensitivity,and so on. In recent years, it has been widely used in high-tech fields such as aerospace, robotics, military, etc.For the double flexible manipulator whose two ends are hinged and the middle is hinged, it is simplified as a multi-flexible beam system. The mass matrix and nonlinear stiffness matrix are deduced based on the absolute nodal coordinate formulation, and then the dynamic model is established, and the correctness of the model is verified by the energy principle. Then, the vibration response of the multi-flexible beam with hinged ends under concentrated load is analyzed, and the vibration is suppressed by using a nonlinear energy sink. The results show that the nonlinear energy sink can effectively suppress the vibration of the multi-flexible beam system caused by external load. In addition, with the increase of the mass parameter of the nonlinear energy sink, the vibration amplitude of the system decays faster, and the vibration energy loss of the system is faster.更多还原