刚—柔耦合机械臂的动力学特性及同步控制研究

发布时间：2018-03-15 02:03

本文选题：柔性机械臂　切入点：刚-柔耦合系统　出处：《东北大学》2011年硕士论文　论文类型：学位论文

【摘要】：随着科学技术的发展,柔性材料在工程机械中已大量使用,它具有操作速度快、能量消耗少、构件紧凑、载荷质量比大等优点。但是,由于柔性构件高速运动时,存在大范围运动与和弹性变形相互耦合,系统的动力学特性也更加复杂,具有强非线性、强耦合、时变等特点,因此对其动力学建模与控制的研究具有重要的理论意义和实际应用价值。柔性机械臂是一种典型的刚-柔耦合系统,在航空航天、机器人等许多高科技领域有着强烈的工程应用背景。本文以平面运动的,带有末端质量的中心刚体-柔性机械臂和两杆刚-柔机械臂系统为例,着重研究了其动力学建模理论、动力学特性、同步控制方法和动态测试实验等问题,为复杂的多柔体系统动力学的研究奠定了一定基础。其主要内容包括：首先,采用假设模态法和Lagrange原理,建立中心刚体-柔性机械臂的一次近似耦合动力学模型；分析模态截断对模型精度的影响;分析零次近似耦合模型和一次近似耦合模型的精度和适用范围；分析机械臂不同转速和不同末端质量对其动态特性的影响。在此基础上,建立两杆刚-柔机械臂的动力学方程,讨论在大范围运动已知条件下和大范围运动未知条件下,其动力学响应。其次,提出一种基于状态观测器的反馈同步控制策略,对柔性机械臂系统的大范围运动与机械臂弹性变形进行综合控制,并且讨论了控制器参数对同步控制效果的影响。然后,结合ADAMS及ANSYS软件,建立柔性机械臂的可视化动力学仿真系统。分别采用ANSYS和ADAMS/AutoFlex两种方法建立ADAMS的柔性体,对比分析ANSYS-ADAMS动力学仿真、ADAMS/AutoFlex仿真和MATLAB编程求解动力学方程的结果。最后,建立基于CCD和图像处理技术的柔性机械臂动态响应测试系统,最终得到柔性机械臂时域的动态响应,以及时频三维谱图、频率和阻尼比。
[Abstract]:With the development of science and technology, flexible materials have been widely used in construction machinery. It has the advantages of fast operation speed, less energy consumption, compact components and large load-mass ratio. The dynamic characteristics of the system are more complex and have the characteristics of strong nonlinear, strong coupling, time-varying and so on. Therefore, the study of its dynamic modeling and control has important theoretical significance and practical application value. Flexible manipulator is a typical rigid-flexible coupling system, which has a strong engineering application background in many high-tech fields such as aerospace, robot and so on. The dynamic modeling theory, dynamic characteristics, synchronous control methods and dynamic test experiments of a central rigid-body flexible manipulator and a two-bar rigid-flexible manipulator with end mass are studied as examples. It lays a foundation for the study of complex multi-flexible system dynamics. The main contents are as follows:. Firstly, the first order approximate coupling dynamic model of the central rigid-flexible manipulator is established by using the hypothesis mode method and Lagrange principle, and the influence of modal truncation on the model accuracy is analyzed. The accuracy and application range of the zero order approximate coupling model and the first order approximate coupling model are analyzed, and the effects of different rotating speed and different end mass on the dynamic characteristics of the manipulator are analyzed. On this basis, the dynamic equations of the two-bar rigid-flexible manipulator are established. The dynamic response is discussed under the condition of known large range motion and unknown condition of large range motion. Secondly, a feedback synchronization control strategy based on state observer is proposed to control the wide range motion and elastic deformation of the flexible manipulator. The effect of controller parameters on the synchronization control effect is discussed. Then, combining with ADAMS and ANSYS software, the visual dynamic simulation system of flexible manipulator is established, and the flexible body of ADAMS is built by ANSYS and ADAMS/AutoFlex, respectively. The results of ANSYS-ADAMS dynamics simulation, Adams / AutoFlex simulation and MATLAB programming for solving dynamic equations are compared and analyzed. Finally, the dynamic response test system of flexible manipulator based on CCD and image processing technology is established. Finally, the dynamic response of the flexible manipulator in time domain is obtained, so that the three-dimensional spectrum, frequency and damping ratio of the flexible manipulator can be obtained in time.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TP241;TH113

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