【摘要】 大范围转动和伸缩运动是某些机械臂系统的典型运动特征，如快堆中燃料组件转运机构.为了实现精准定位操作，设计过程中需要考虑机械臂的弹性振动问题．本文从刚体运动和弹性变形耦合的角度出发，运用广义Hamilton原理建立了一种变长度回转梁的时变动力学方程．通过变量替换，利用假设模态法得到二阶变系数微分方程，并采用Newmark-β法进行求解．根据计算结果，讨论了不同回转角速度和轴向伸缩情形对机械臂末端弹性振动的影响，并说明了在此类柔性机械臂振动分析中考虑刚弹耦合的必要性．更多还原

【Abstract】 Large rotary and telescopic motion are the typical characteristics of several manipulator, such as the transfer mechanism of the fast reactor fuel assembly. In order to achieve accurate positioning operation, the elastic vibration of the manipulator should be considered in the design process. Starting from the perspective of the coupling of rigid-body motion and elastic deformation, the time-varying dynamic equation for a rotation beam with variable length was established using the generalized Hamilton’s principle.Through variable substitution, the second order differential equation with variable coefficients was obtained employing the mode assumption method, and solved using Newmark-β method. Based on the calculation results, the influences of the rotation speed and the axial telescoping conditions on the elastic vibration of the end of the manipulator were discussed. The necessity of considering the rigid-elastic coupling effects in the vibration analysis of such flexible manipulators was also illustrated.更多还原