杨贺贺;陈炜;童嘉琦;孙玉超;

• 1:天津理工大学天津市先进机电系统设计与智能控制重点实验室
• 2:天津理工大学机电工程国家级实验教学示范中心
• 3:天津理工大学中环信息学院

摘要(Abstract)：

开展了含有柔性关节的轮式移动机械臂的动力学特性研究。基于多体系统离散时间传递矩阵法（discrete time transfer matrix method of multibody system, MS-DT-TMM）建立了车轮、车体、柔性关节和机械臂的动力学方程，进而得到平面轮式移动柔性机械臂的整体动力学模型。在不平路面的激励下，分析机器人系统的动力学特性，并讨论柔性关节对系统的影响。数值仿真结果验证了基于MS-DT-TMM模型的可行性和有效性，与刚性结果对比分析表明，由柔性关节引起机械臂的弹性振动，直接影响机器人末端的操作精度，说明考虑关节中柔性因素的必要性。

关键词(KeyWords)： 柔性关节;移动柔性机械臂;多体系统离散时间传递矩阵法;动力学

Abstract:

Keywords:

基金项目(Foundation): 创新培育课题（1916312ZT00600706,2016312ZD02800207）

作者(Authors): 杨贺贺;陈炜;童嘉琦;孙玉超;

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