固定-导向柔顺杆件6R伪刚体模型

发布时间：2018-03-16 03:11

本文选题：伪刚体模型　切入点：固定-导向柔顺杆件　出处：《中国机械工程》2016年21期 　论文类型：期刊论文

【摘要】：为提高固定-导向型伪刚体模型的计算精度,基于伪刚体模型的原理提出了一种固定-导向6R伪刚体模型。建立了该模型的运动学方程,并根据逆运动学分析方法及优化算法求解了模型的4个最优特征半径系数和3个扭簧刚度系数。通过数值算例模拟固定-导向6R伪刚体模型的末端动作路径,并将其与固定-导向2R伪刚体模型及柔顺杆件的末端路径进行对比。结果表明,固定-导向6R伪刚体模型能够更加精确地模拟相应柔顺杆件的末端动作过程,且其相对误差几乎为0。最后,通过ANSYS有限元分析实例验证了该模型在实际计算中的精确性。
[Abstract]:In order to improve the calculation accuracy of the fixed-guided pseudo-rigid body model, a fixed-guided 6R pseudo-rigid body model is proposed based on the principle of the pseudo-rigid body model. The kinematics equation of the model is established. Four optimal characteristic radius coefficients and three torsion spring stiffness coefficients of the model are solved by inverse kinematics analysis method and optimization algorithm. The terminal motion paths of the fixed-guided 6R pseudo-rigid body model are simulated by numerical examples. The results show that the fixed guided 6R pseudo-rigid body model can more accurately simulate the terminal movement process of the corresponding compliant rod, and compared with the fixed guided 2R pseudo rigid body model and the terminal path of the compliant rod, the results show that the fixed guided 6R pseudo rigid body model can more accurately simulate the terminal movement process of the corresponding compliant rod. The relative error is almost 0. Finally, the accuracy of the model is verified by ANSYS finite element analysis.
【作者单位】：江南大学;上海交通大学系统控制与信息处理教育部重点实验室;哈尔滨工业大学机器人技术与系统国家重点实验室;
【基金】：国家自然科学基金资助项目(50905075) 江苏省“六大人才高峰”资助项目(ZBZZ-012) 机器人技术与系统国家重点实验室开放基金资助项目(SKLRS-2016-KF-06) 系统控制与信息处理教育部重点实验室开放基金资助项目(scip-201506)
【分类号】：TH112

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