摘要
关于大范围运动柔性结构的刚柔耦合特性的研究已经取得了很大进展,但是针对结构变形场离散方法的研究相对较少,采取合理的离散方法对柔性结构的研究具有举足轻重的作用。以单臂柔性机械臂为例,对大范围运动柔性结构动力学离散方法——假设模态法、有限元法和广义坐标法进行了归纳,并对在平面内运动的匀质和非匀质单臂柔性机械臂的动力学响应进行了计算,进而对各种离散方法进行了比较研究。
The study on the characteristics of rigid-flexible coupling of flexible structures with large overall motion has made great progress, but few investigations on the discrete method for the deformation of structures. Employing reasonable discrete method plays an important role in the study of flexible structures. In this paper, taking a single-link flexible manipulator as an example, the dynamic discrete methods for flexible structures with large overall motion are summarized, which include assumed modes method, finite element method and generalized coordinate method. And the dynamic responses of a homogeneous single-link flexible manipulator and a heterogeneous single-link flexible manipulator are obtained, and then comparative study on various discrete methods is progressed.
出处
《强度与环境》
2013年第3期1-9,共9页
Structure & Environment Engineering
基金
自然科学基金项目(11272172/A020208)
关键词
柔性结构
动力学离散方法
假设模态法
有限元法
广义坐标法
flexible structure
dynamic discrete method
assumed modes method
finite element method
generalized coordinate method
