摘要
研究考虑热应变的柔性并联空间机械臂动力学性态。用Jourdain速度变分原理建立各机械臂的动力学变分方程,在此基础上根据各物体之间的运动学约束关系,建立柔性多体系统的微分代数混合动力学方程。数值仿真结果表明,当温度升高时,机械臂的轴向约束力和中心刚体的质心运动速度均出现显著振荡,而适当减小温度变化率,可以有效地控制振幅。
Dynamic performance of a flexible parallel manipulator with thermal strain is investigated.Variational equations of motion of each flexible link are derived under Jourdain variational principle,and then the mixed algebraic-differential equations of flexible multibody systems are obtained with the kinematic constraint conditions.Simulation results show significant vibration of the axial constraint force of the flexible links and the centroidal velocity of the central rigid body due to the increasing temperature.It is concluded that the thermal disturbance can be efficiently controlled by weakening the temperature variation.
出处
《应用力学学报》
EI
CAS
CSCD
北大核心
2007年第3期391-395,共5页
Chinese Journal of Applied Mechanics
基金
国家自然科学基金(10472066
50475021)
关键词
热应变
柔性并联空间机械臂
动力学
温度变化率
Thermal strain,flexible parallel manipulator,dynamics,temperature changing rate.
