CAJ | 학술논문

机械臂的刚柔耦合非线性动力学特性分析是实现其运动精度控制的基础.针对某航天飞行器装载的RRRP型空间机械臂,采用模态组合函数描述各臂的弹性变形,将转动副角位移、移动幅线位移以及各臂的模态坐标作为广义自由度,利用Lagrange定理建立了空间RRRP机械臂的非线性动力学方程,采用4-5阶变步长Runge-kutta法,对非线性微分方程组进行了数值求解.研究了机械臂刚柔耦合的非线性特性及结构参数变化对末端振动的影响,为进一步实现其结构优化和精度控制奠定基础.
궤계비적강유우합비선성동역학특성분석시실현기운동정도공제적기출.침대모항천비행기장재적RRRP형공간궤계비,채용모태조합함수묘술각비적탄성변형,장전동부각위이、이동폭선위이이급각비적모태좌표작위엄의자유도,이용Lagrange정리건립료공간RRRP궤계비적비선성동역학방정,채용4-5계변보장Runge-kutta법,대비선성미분방정조진행료수치구해.연구료궤계비강유우합적비선성특성급결구삼수변화대말단진동적영향,위진일보실현기결구우화화정도공제전정기출.
It's the foudation of its motion error control that nonlinear dynamic analysis for a rigid-flexible coupled manipulator. One astronautic manipulator is equivalent to a RRRP system including an integrated mass. The one order similar modal functions of an extendible manipulator were set up by use of finite element method. Its dynamic model was set up by use of Lagrange's equation and the assumed mode method. With help of Runge-Kutta numerical method, the dy- namical characteristics of a rigid-flexible coupled RRRP system were found. The numerical results indicated that the change of the structural parameters will influence the lateral vibration of the manipulator; based on the above results, its optimal design and motion error control can be realized.