关键词: 振动与波, 柔性机械臂, 模态分析, 弹性变形, 动力学建模, 振动分析

Abstract:

This paper took humanoid rigid-flexible coupling robotic arm with three rotating joints as the research object, established dynamic model and analyzed its dynamic characteristics. For improving accuracy of model, paper used finite segment method to analysis inherent frequency and vibration mode functions of flexible robotic arm in different boundary conditions. In consideration of gravity, the assumed-model method and Hamilton’s principle were used to describe deformation of flexible shaft and derive the dynamic model of the flexible robotic arm. A kind of angular function of joints was given to dynamic model to analysis residual oscillation of load. The research has established a foundation for precision of model and positive vibration-control of flexible robotic arm.