The server is under maintenance between 08:00 to 12:00 (GMT+08:00), and please visit later.
We apologize for any inconvenience caused
Login  | Sign Up  |  Oriprobe Inc. Feed
China/Asia On Demand
Journal Articles
Laws/Policies/Regulations
Companies/Products
Bookmark and Share
Frictional impact dynamics of flexible manipulator arms
Author(s): 
Pages: 879-886
Year: Issue:  6
Journal: Journal of Vibration Engineering

Keyword:  oblique impactfrictionflexible multi-body systemdynamics simulation;
Abstract: 研究了由柔性杆、柔性铰构成的机械臂的斜碰撞动力学问题.首先,采用高次刚柔耦合理论、应用Lagrange方程得到系统的递推动力学模型.然后,引入碰撞力势能,运用连续法建模获得碰撞力所对应的广义力,得到系统的碰撞动力学方程.采用Hertz接触模型和Coulomb摩擦光滑修正模型分别建立法向和切向碰撞模型,提出碰撞/分离切换准则.通过光滑化处理摩擦接触,提高了大型复杂柔性多体系统含摩擦碰撞全局动力学的计算效率.最后对国际空间站机械臂Canadarm2的简化模型斜碰撞过程进行仿真,验证了所提模型和算法的有效性.
Related Articles
No related articles found