压电型柔性机械臂动力学建模研究

以压电双杆柔性臂为研究对象,采用Euler-Bernoulli梁模型简化机械臂,运用假设模态法描述弹性变形,将压电元件对臂的作用等效为一驱动力矩,依据拉格朗日方程推导耦合动力学方程,并利用Newmark法进行迭代求解。仿真与实验验证了动力学模型的有效性,模型具有准确、简单等特点,为后续振动控制的实施奠定了理论基础。

Research on Dynamic Modeling of Piezoelectric Flexible Manipulator

According to two-link piezoelectric flexible manipulator,the manipulator was reduced to Euler-Bernoulli beam model,the elastic deformation was described by assumed modes method,the action that piezoelectric element on flexible manipulator was equivalent to a driving torque.The coupled dynamic equation was derived by lagrange equation,and it was iteratively solved by Newmark method.The dynamic model was verified to be true by simulation and experimental results,and the model had the advantages of accurate and simple,thus laid a foundation for the follow-up implementation of vibration control.