摘要近年来，由于空间技术和机器人技术的发展，刚柔性系统的动力学研究受到了很大的关注。柔性多体系动力学是一门新兴的交叉学科，它是多刚体系统力学、高等动力学、弹性力学和自动控制理论等多学科相结合的产物，被人们认为是一般力学最活跃的领域之一。柔性多体系统动力学的研究对象一般为柔性多体系统或刚柔耦合系统，该学科又被称为刚柔耦合动力学。刚柔耦合动力学在航天航空、机械、机器人、车辆等领域有着广泛的应用 。例如涡轮叶片、直升机螺旋桨、卫星天线、机器人机械臂等都是工程中含大范围运动的柔性结构。这些结构都是经常被简化为一个典型的中心刚体-柔性梁运动力学模型来研究。中心刚体-柔性梁系统是一个典型的刚柔耦合动力学系统,对其动力学与控制的研究一直是国内外的研究热点问题之一。实际工程中，柔性附件往往包含附加质量块，如机器手臂在抓取目标时需要在机械臂上设计相应质量的抓手装置，以完成较为复杂的任务 。以柔性多体系统动力学理论为指导，对含附加集中质量的中心刚体-柔性梁系统的动力学特性进行深入的研究，不仅能促进柔性多体系统动力学学科的发展，更能为实际复杂工程问题提供必要的技术参数。87659

毕业论文关键词  刚柔性系统动力学 刚柔耦合动力学 中心刚体-柔性梁系统 附加集中质量

毕业设计说明书外文摘要

Title   Dynamic simulation of rigid-flexible coupled manipulator system with lumped mass

Abstract In recent years, the study of the dynamics of the rigid-flexible system has caused considerable attention, due to the development of the space and robot technology。 As a new interdisciplinary subject, flexible multi-body system dynamics is the multidisciplinary combination of multi rigid body system dynamics, advanced dynamics, elastic mechanics and automatic control theory, which is deemed to be one of the most active fields of general mechanics。 The objects of study of flexible multi-body system dynamics are flexible multi-body system or rigid -flexible coupled system, which is also known as the rigid-flexible coupled dynamics。Rigid flexible coupling dynamics in aerospace, machinery, robots, vehicles, and other fields has a wide application 。 such as a turbine Blade, helicopter propeller, satellite antenna, robot arm are project containing a wide range of motion of the flexible structure。 These structures are is often reduced to a typical rigid - flexible beam transport dynamic model to study。 A flexible hub beam system is a typical rigid flexible coupling dynamic system, the study on the dynamics and control has been one of research hot spot at home and abroad。 In practical engineering, flexible appendages often contains additional mass block, like a robotic arm during object grasping need in manipulator design gripping device with the corresponding quality of the, to complete more complex tasks 。 to flexible multi-body system dynamics and On as a guide, the added focus on the dynamics of flexible hub beam system with quality of in-depth study, not only can promote the development of the discipline of dynamics of flexible multi-body systems, more complicated practical engineering problems to provide necessary technical parameters。

Keywords flexible system dynamics  The coupled dynamics  Center rigid body-flexible beam system  Additional lumped mass

目   次

1  绪论 1 

1。1  研究意义 1

1。2  工程背景 1

1。3  刚柔耦合建模理论研究现状 3

1。4  本论文的内容安排 4

2  理论建模与仿真 6 

2。1  刚柔耦合动力学建模方法 6

2。1。1  浮动坐标系法 6