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首页> 外文期刊>Multibody system dynamics >On the First-Order Decoupling of Dynamical Equations of Motion for Elastic Multibody Systems as Applied to a Two-Link Flexible Manipulator
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On the First-Order Decoupling of Dynamical Equations of Motion for Elastic Multibody Systems as Applied to a Two-Link Flexible Manipulator

机译：弹性多体系统运动动力学方程的一阶解耦在双连杆柔性机械臂上的应用

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摘要

An improved method for deriving elastic generalized coordinates is considered. Then Kane's equations of motion for multibody systems consisting of an arbitrary number of rigid and elastic bodies is presented. The equations are in general form and are applicable for any desired holonomic system. Flexibility in choosing generalized speeds in terms of generalized coordinate derivatives in Kane's method is used, It is shown that proper choice of a congruency transformation between generalized coordinate derivatives and generalized speeds leads to equations of motion for holonomic multibody systems consisting of an arbitrary number of rigid and elastic bodies. These equations are decoupled in first-order terms. In order to show the use of this method,l a simple system consisting of a lumped mass, a spring and a clamped-free elastic beam is modeled. Finally, the numerical implementation of decoupling using congruency transformation is discussed and shown via simulation of a two-degrees-of-freedom flexible robot.
机译：考虑了一种用于导出弹性广义坐标的改进方法。然后给出了由任意数量的刚体和弹性体组成的多体系统的凯恩运动方程。这些方程是一般形式，适用于任何所需的完​​整系统。在凯恩方法中使用了根据广义坐标导数选择广义速度的灵活性，这表明在广义坐标导数和广义速度之间的全等变换的正确选择会导​​致由任意数量的刚性组成的完整多体系统的运动方程和弹性体。这些方程以一阶项解耦。为了显示该方法的使用，对一个简单的系统进行了建模，该系统由集总质量，弹簧和自由夹紧的弹性梁组成。最后，通过对两自由度柔性机器人的仿真，讨论并展示了使用全等变换进行解耦的数值实现。

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