本文以平面运动的三关节机械臂为例,建立它的力学模型和动力学方程。采用D. A. Haessig. Jr等提出的重新定位(Reset Integrator)摩擦模型,用数值方法研究典型激励下机械臂运动的响应,比较不同参数情况的计算结果,发现摩擦力对运动的影...本文以平面运动的三关节机械臂为例,建立它的力学模型和动力学方程。采用D. A. Haessig. Jr等提出的重新定位(Reset Integrator)摩擦模型,用数值方法研究典型激励下机械臂运动的响应,比较不同参数情况的计算结果,发现摩擦力对运动的影响大小不仅取决于摩擦系数的大小,而且与关节传动刚度、驱动速度和重力均有密切关系。展开更多
This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential sour...This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential source of stick-slip motion when the sliding is impending. A new criterion for occurrence of stick-slip motion is established. The stick-slip region and the stable region in a parameter plane are separated by a critical parameter curve. Moreover, for the stick-slip motion of the flexible drive mechanism without viscous damping, a parameter expression is obtained. The results may be used in design of the flexible drive mechanism.展开更多
文摘本文以平面运动的三关节机械臂为例,建立它的力学模型和动力学方程。采用D. A. Haessig. Jr等提出的重新定位(Reset Integrator)摩擦模型,用数值方法研究典型激励下机械臂运动的响应,比较不同参数情况的计算结果,发现摩擦力对运动的影响大小不仅取决于摩擦系数的大小,而且与关节传动刚度、驱动速度和重力均有密切关系。
文摘This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential source of stick-slip motion when the sliding is impending. A new criterion for occurrence of stick-slip motion is established. The stick-slip region and the stable region in a parameter plane are separated by a critical parameter curve. Moreover, for the stick-slip motion of the flexible drive mechanism without viscous damping, a parameter expression is obtained. The results may be used in design of the flexible drive mechanism.
