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PLANNING METHOD OF ASYMMETRIC VARIABLE ACCELERATION BASED ON DYNAMIC RESPONSE SIMULATION OF NONLINEAR FINITE ELEMENT
PLANNING METHOD OF ASYMMETRIC VARIABLE ACCELERATION BASED ON DYNAMIC RESPONSE SIMULATION OF NONLINEAR FINITE ELEMENT
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机译：基于非线性有限元动力响应模拟的非对称变加速度规划方法
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摘要
A planning method of asymmetric variable acceleration based on dynamic response simulation of a nonlinear finite element. The method comprises: solving a positioning course of a nonlinear finite element model containing a kinematic degree of freedom and a parametric motion function as boundary conditions; determining whether the amplitude of an execution end after the drive stops meets the positioning accuracy, if not, continuing solving, and if yes, the vibration energy decay time; and determining whether a target response time is a minimum value, if the time is the minimum value, determining set motion parameters as optimal parameters, and if the time is not the minimum value, calculating the gradient and step size of the motion parameters and resetting motion parameters for solution. By means of the method, the problem of motion planning for a mechanism with high speed and high acceleration with nonlinear effects such as large flexible deformation and precision positioning requirements is resolved. The precision positioning and smooth position/force switching under high acceleration conditions can be achieved. The method is also applicable to the problem of motion planning for an execution mechanism with the traditional solving method.
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