CAJ | 학술논문

根据假设模态法，对刚-柔耦合机械臂系统进行运动学分析；基于Lagrange方程，建立刚-柔耦合机械臂系统的动力学模型；采用滑膜变结构控制方法对刚-柔性机械臂的振动控制进行仿真研究。结果表明：一阶模态下的动力学模型即可满足刚-柔性机械臂系统的精度要求，滑模变结构控制能够有效地减缓柔性末端的振动，提高机械臂系统的动力学性能和精度。
근거가설모태법，대강-유우합궤계비계통진행운동학분석；기우Lagrange방정，건립강-유우합궤계비계통적동역학모형；채용활막변결구공제방법대강-유성궤계비적진동공제진행방진연구。결과표명：일계모태하적동역학모형즉가만족강-유성궤계비계통적정도요구，활모변결구공제능구유효지감완유성말단적진동，제고궤계비계통적동역학성능화정도。
The dynamic of rigid-flexible coupling mechanical arm system is analysed based on the assumed mode method. The dynamic model of rigid-flexible manipulators system is established according to the Lagrange equation. The sliding mode variable structure control (SMVSC) method is used to regulate the rigid-flexible manipulators vibration. The simulation results show that the first order of dynamic model can meet the precise requirements of rigid-flexible manipulators system. The SMVSC method can make the vibration of flexible terminal slow down effectively, which to improve the dynamic performance and the precision of the mechanical arm system.