关键词: 参数识别, 柔性机械臂, 组合结构

Abstract: In order to restrain the vibration of flexible manipulator, friction damping of assembled flexible link can be used to restrain the vibration of flexible manipulator. The contrast experiment with solid flexible link indicates that assembled flexible link has effective vibration-restraining capability. The dynamic model of assembled flexible link is built with an equivalent mass, a nonlinear spring, a damper and a spring-slider. According to the data obtained from FEA simulation of forced vibration of assembled flexible link, its shape function and reaction force hysteresis curve are determined. The dynamic model parameter of assembled flexible link is determined according to kinetic energy equivalence principle, analysis of reaction force hysteresis curve and nonlinear least-squares solution. In addition, S-function block is written in M-file to compute spring-slider. Finally, the simulink model is created according to the dynamic model. The response of free vibration from simulation is consistent with experiment. This method provides an effective way for dynamics modeling and vibration-damping design of assembled flexible link.

Key words: Assembled link, Flexible manipulator, Parametric identification