轻型操作臂结合部弹性约束动力学特性及实验研究

发布时间：2018-06-27 17:57

本文选题：轻型操作臂 + 结合部　；参考：《中国机械工程》2017年23期

【摘要】：对结合部弹性约束下轻型操作臂系统的动力学特性进行了研究。首先,基于结合部的线约束刚度,建立了轻型操作臂的弹性约束模型,得到系统的频率特性方程;其次,基于建立的弹性约束模型,采用哈密顿变分原理推导了系统的振动位移方程;最后,采用理论仿真和实验方法对轻型操作臂弹性约束系统的动力学特性进行分析,探讨了结合部弹性约束对系统动态特性的影响机理。研究结果表明:所建弹性约束模型能够表征结合部的弹性约束作用,尤其对高阶模态的分析具有较高精度;在弹性约束区域内,频率与约束刚度之间具有幂函数关系特征,前两阶频率拟合误差分别小于0.08%和0.45%;振动位移分析误差为2.38%,通过实验验证了系统弹性约束模型和动力学分析结果的正确性。
[Abstract]:In this paper, the dynamic characteristics of light manipulator system under elastic constraint of joint are studied. Firstly, based on the linear constraint stiffness of the junction, the elastic constraint model of the light manipulator is established, and the frequency characteristic equation of the system is obtained. The vibration displacement equation of the system is derived by using Hamiltonian variational principle. Finally, the dynamic characteristics of elastic restraint system of light manipulator are analyzed by theoretical simulation and experiment. The influence mechanism of the elastic constraint on the dynamic characteristics of the system is discussed. The results show that the elastic constraint model can represent the elastic constraint of the joint, especially for the analysis of the higher-order modes, and the relationship between the frequency and the constraint stiffness is power function in the elastic constraint region. The first two order frequency fitting errors are less than 0.08% and 0.45%, respectively, and the vibration displacement analysis error is 2.38. The correctness of the system elastic constraint model and the dynamic analysis results are verified by experiments.
【作者单位】：安徽工程大学机械与汽车工程学院;中国矿业大学机电工程学院;安徽工程大学工程研发与训练中心;
【基金】：国家自然科学基金资助项目(51305444) 安徽高校自然科学研究项目(KJ2017A118) 安徽省科技攻关计划资助项目(1604a0902125、1604a0902183) 芜湖市科技计划资助项目(2016cxy03) 安徽工程大学大学引进人才科研启动基金资助项目(2016YQQ012)
【分类号】：TP242

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