空间机械臂间隙影响分析

doi:10.3969/j.issn.1674-1579.2017.06.009

摘要/Abstract

摘要： 摘要：为考察关节间隙和柔度对机械臂动力学行为的影响，分别建立平面二自由度和空间7自由度的机械臂刚柔耦合模型，应用ADAMS 软件采用间隙铰非线性弹簧阻尼模型，考虑臂杆柔度和间隙对动力学性能的影响，对两种机构进行动力学仿真分析.分析结果表明：臂杆柔度对位移影响较小，但角速度、角加速度曲线随柔度增加波动显著增大；由于间隙的存在，关节碰撞导致机械臂运动精度、角速度与角加速度随间隙显著增大.

关键词: 关键词：动力学, 空间机械臂, 刚柔耦合, 间隙

Abstract: Abstract：In order to investigate the effects of joint clearance and flexibility on dynamic behavior of space manipulator, the rigidflexible coupling models are built on twodegreeoffreedom planar manipulator and sevendegreeoffreedom space manipulator. Furthermore, dynamic amylases of these two models are applied using a nonlinear elasticdamper model of the clearance connections. The effects of the clearance and structure flexibility are discussed detailed. The results show that arm flexibility has a little effect on displacement; however the oscillation of angular velocity and angular acceleration areincreasing with the increasing flexibility. Due to the clearance, the impact changes the dynamic characteristics of space manipulator. Kinematic accuracy decreases and the oscillation of angular velocity and angular acceleration increase with the increasing clearance.

Key words: Keywords：dynamics, space manipulator, rigidflexible coupling, clearance

中图分类号:

中图分类号： TH133

张玉翠, 刘峰, 张晖辉. 空间机械臂间隙影响分析[J]. 空间控制技术与应用, 2017, 43(6): 54-60.

ZHANG Yu-Cui, LIU Feng, ZHANG Hui-Hui. Effects of Clearance on Space Manipulator[J]. , 2017, 43(6): 54-60.

参考文献

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