2F2R宏微机械臂动力学建模与弹性振动尺度效应分析

doi:10.3901/JME.2017.21.065

机械工程学报 ›› 2017, Vol. 53 ›› Issue (21): 65-78.doi: 10.3901/JME.2017.21.065

2F2R宏微机械臂动力学建模与弹性振动尺度效应分析

高胜, 李美杰, 杨明岩, 张飘石, 任福深

东北石油大学机械科学与工程学院大庆 163318

收稿日期:2016-10-29 修回日期:2017-06-20 出版日期:2017-11-05 发布日期:2017-11-05
作者简介:高胜,男,1970年出生,教授,博士研究生导师。主要研究方向为机电系统设计、仿真与控制。E-mail:gaosheng_china@126.com
基金资助:
国家自然科学基金（11372071）、国家科技支撑计划（2012BAH28F03）和黑龙江省领军人才梯队后备带头人资助项目。

Dynamic Modeling and Elastic Vibration Scale Effect of 2F2R Macro Micro Manipulator

GAO Sheng, LI Meijie, YANG Mingyan, ZHANG Piaoshi, REN Fushen

School of Mechanical Science and Engineering, Northeast Petroleum University, Daqing 163318

Received:2016-10-29 Revised:2017-06-20 Online:2017-11-05 Published:2017-11-05
Contact: 李美杰(通信作者),1990年出生,硕士研究生。主要研究方向为特种石油装备机器人技术。E-mail:809847441@qq.com

摘要/Abstract

摘要： 柔性宏刚性微机械臂是一类典型的刚柔混合机械臂系统。采用有限元法，以2F2R宏微机械臂为研究对象，通过分析，详细推导和建立具有普遍意义的动力学模型。基于给定关节空间运动轨迹，对2F2R宏微机械臂的结构参量、截面参量、材质、集中质量分布等与系统弹性振动尺度效应之间关系与变化规律进行分析。在此基础上，针对操作空间运动轨迹，采用宏微空间分解方法，进一步分析上述设计参量与系统弹性振动尺度效应之间关系。通过上述两方面研究工作，获得许多有参考价值的研究成果，这对于该类宏微机械臂的设计与控制都将具有重要意义。

关键词: F2R宏微机械臂, 尺度效应, 弹性振动, 动力学模型

Abstract: Flexible-macro rigid-micro manipulator is a typical series hybrid rigid flexible manipulator system. The finite element method is used to study the 2F2R macro micro manipulator. By detailed analysis, a dynamic model with general significance is derived and established. Based on the given joint space trajectory, the relationship and the change law of the structure parameters, the section parameters, the material, the lumped mass distribution of the 2F2R macro micro manipulator arm and the system elastic vibration scale effect are analyzed. On this basis, the macro micro space decomposition method is adopted to further analyze the relationship between the design parameters and the elastic vibration scale effect according to the motion trajectory of the operating space. Through the above two aspects of research work, a lot of valuable research results are obtained, which are of great significance to the design and control of this kind of macro micro manipulator arm.

Key words: 2F2R macro micro manipulator, dynamic model, elastic vibration, scale effect

中图分类号:

TH113

高胜, 李美杰, 杨明岩, 张飘石, 任福深. 2F2R宏微机械臂动力学建模与弹性振动尺度效应分析[J]. 机械工程学报, 2017, 53(21): 65-78.

GAO Sheng, LI Meijie, YANG Mingyan, ZHANG Piaoshi, REN Fushen. Dynamic Modeling and Elastic Vibration Scale Effect of 2F2R Macro Micro Manipulator[J]. Journal of Mechanical Engineering, 2017, 53(21): 65-78.

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2F2R宏微机械臂动力学建模与弹性振动尺度效应分析

Dynamic Modeling and Elastic Vibration Scale Effect of 2F2R Macro Micro Manipulator

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