本文關鍵詞：剛柔耦合柔性機械臂含摩擦碰撞動力學研究　出處：《南京理工大學》2016年博士論文　論文類型：學位論文

  更多相關文章： 含摩擦碰撞 高次剛柔耦合 柔性機械臂 多點碰撞

【摘要】：本論文在高次剛柔耦合理論基礎上,對柔性桿柔性鉸機器人含摩擦碰撞全局動力學的建模與算法問題進行了研究。柔性機械臂的含摩擦碰撞問題是最具挑戰(zhàn)性的問題之一,廣泛存在于各個工程領域中,例如:機械臂、大型雷達天線、太陽能電池板、運輸車輛、制造設備,以及仿生肌肉骨骼系統(tǒng)等等。盡管已經(jīng)取得了一系列重大進展,但由于該問題涉及到耦合變形的高度非線性、高瞬態(tài)的接觸變邊界非光滑性、粘滯與滑移的物理非光滑性、以及數(shù)值求解等問題,實現(xiàn)復雜多體系統(tǒng)的大規(guī)模計算機模擬仿真仍然是時下一個非常復雜的任務,因此對柔性機械臂的含摩擦碰撞動力學問題的建模與分析研究在理論發(fā)展和工程應用上的具有重要的價值和意義。本文的研究內容以及成果主要有:建立了含有多桿和多鉸的機械臂的高次剛柔耦合動力學模型。系統(tǒng)由n個柔性桿和n個柔性鉸鏈接構成。采用4×4齊次變換矩陣描述系統(tǒng)的運動。柔性鉸簡化為含質量效應的線彈性扭轉彈簧。柔性桿的變形考慮橫向、縱向、扭轉、以及橫向變形引起的縱向縮短,即高階幾何非線性耦合項。采用遞歸策略得到可適用于計算機編程和實時仿真的高次剛柔耦合動力學方程。編寫了通用的C++多體動力學軟件。通過仿真算例,研究了剛柔耦合模型與傳統(tǒng)零次耦合動力學模型各自的適用范圍,對系統(tǒng)在重力場中、微重力場中的大范圍運動與變形進行了仿真分析,對鉸的柔性效應和剛度進行了分析研究。采用連續(xù)接觸力法處理多體系統(tǒng)含摩擦碰撞問題。引入數(shù)學規(guī)劃中熵正則化方法的思想,分別建立法向碰撞和切向摩擦的光滑化修正模型以及接觸/分離、粘滯/滑移切換準則,將多體系統(tǒng)含摩擦碰撞的非光滑力學問題光滑化處理。引入碰撞力勢能的概念,運用拉格朗日方程程式化地得到碰撞產(chǎn)生的廣義力,從而得到系統(tǒng)碰撞階段的動力學方程。編寫了相應的C++碰撞多體系統(tǒng)動力學計算模塊。通過剛/柔復合擺經(jīng)典算例以及Canadarm2簡化模型算例的數(shù)值仿真,研究了柔/剛性鉸、零次/高次剛柔耦合模型、不同接觸模型、摩擦系數(shù)、指數(shù)系數(shù)等對系統(tǒng)響應的影響,比較了三種摩擦模型的區(qū)別。將多體系統(tǒng)含摩擦碰撞的非光滑力學問題光滑化處理,縮短了已有非光滑力學理論與工程實際應用之間的距離,提高了大型復雜柔性多體系統(tǒng)全局動力學的計算效率。采用附加約束法處理多體系統(tǒng)含摩擦碰撞的非光滑力學問題�；谧兺負湎到y(tǒng)的物理思路,根據(jù)不同的系統(tǒng)狀態(tài),將全局動力學方程分為分離、碰撞初始、粘滯接觸、滑移接觸等幾個階段描述。采用沖量/動量法求解碰撞初始的速度不協(xié)調問題。根據(jù)粘滯/滑動接觸條件構造附加約束法動力學方程,并給出接觸/分離、粘滯/滑移切換準則,通過Baumgarte約束穩(wěn)定化方法保證約束方程不違約。通過數(shù)值仿真準確揭示了碰撞點的粘滯、正向微小滑動、逆向微小滑動以及它們之間的切換等多樣性的接觸現(xiàn)象。采用互補算法處理柔性多體系統(tǒng)含摩擦多點碰撞問題。引入關聯(lián)矩陣和四個接觸點集來描述多點碰撞對的接觸/分離、粘滯/滑移狀態(tài)。全局動力學方程分為分離、碰撞初始、粘滯碰撞、滑動碰撞四個狀態(tài)。碰撞初始速度跳躍條件采用沖量/動量法實現(xiàn)運動的協(xié)調。在連續(xù)接觸狀態(tài)中,根據(jù)粘滯/滑動、正/逆向滑動等狀態(tài)構造接觸約束,采用互補條件統(tǒng)一描述動力接觸條件,得到簡潔、準確且易于編程實現(xiàn)的碰撞動力學求解方程。通過對柔性機械臂與兩障礙物含摩擦碰撞的數(shù)值仿真,研究了碰撞點位置的切換、碰撞點的粘滯/滑動、粘滯/正向微小滑動、粘滯/逆向微小滑動等接觸多樣性。
[Abstract]:In this paper, the higher the rigid flexible coupling theory based on the modeling and algorithm of global dynamics with friction and collision of flexible link and flexible joint robot is studied. With the frictional collision problems of flexible manipulator is one of the most challenging problems exist widely in various engineering fields, such as mechanical arm, large radar antenna, solar panels, transport vehicles, manufacturing equipment, and bionic musculoskeletal system and so on. Although it has made a series of significant progress, but because the problem involves highly nonlinear coupling deformation, non smooth boundary and high transient contact, physical viscous and non smooth slip, and the numerical solution of such problems. The computer realization of large-scale complex multibody system simulation is nowadays a very complex task, so the problem of friction modeling with collision dynamics of flexible manipulator and Analysis on the theory development and engineering application has important value and significance. The research contents of this paper and the main results are: the higher the rigid flexible coupling dynamic model of manipulator with multi lever and multi hinge. The system consists of N flexible bar and N flexible hinge structure. Using 4 * 4 homogeneous the transformation matrix to describe the motion of the system. The flexible hinge is simplified as linear elastic mass effect torsion spring. Considering lateral deformation of flexible rod, longitudinal, torsional, longitudinal and transverse deformation caused by shortening, namely high order geometric nonlinear coupling. Using recursive strategy to obtain high-order rigid flexible coupling dynamic equations can be applied to computer programming and real-time simulation the multi body dynamics software. The general preparation of C++. Through numerical simulation, the research scope of the rigid flexible coupling model with the traditional zero coupling dynamic model of the system in gravity In the field, large range of motion in microgravity and deformation are simulated and analyzed, and the effect of flexible hinge stiffness were analyzed. With the continuous contact force method of multibody systems with frictional collision problems. Introducing method of entropy regularization in mathematical programming thought, established normal and tangential friction collision the smoothing correction model and contact / separation, the stick / slip switching rule, containing frictional collision of multi body system of nonsmooth mechanics problems of smooth processing. By introducing the concept of collision force potential, using the Lagrange equation to obtain stylized generalized force generated by the collision, so as to obtain the dynamic equations of the system. The preparation of the collision stage the corresponding C++ collision of multibody system dynamics calculation module. Through the rigid flexible compound pendulum classic example and Canadarm2 simplified numerical simulation model for example, study the flexible / rigid hinge, zero / high strength The coupling model, different contact model, friction coefficient, influence coefficient index on the system response, the difference between three friction models. The frictional impact of multi body system of nonsmooth mechanics problems of smooth processing, shorten the existing non smooth mechanics theory and practical application of the project to improve the computational efficiency of large distance. The complex flexible multi-body system dynamics. The global constraint method of multibody systems with friction and collision of nonsmooth mechanics problems. The physical idea of variable topology based system, according to the different states of the system, the global dynamic equation is divided into initial separation, collision, viscous contact, sliding contact problems using several stages such as described. The impulse momentum method to solve the collision / initial speed coordination. According to the viscous / sliding contact conditions of structural dynamics the additional constraint equation, and gives the contact / separation, stick / slip shear lag Change rule, through the Baumgarte constraint stabilization method to ensure the constraint of default. Through the numerical simulation accurately reveals the viscous collision point, small forward sliding contact phenomenon between reverse micro slip and their switching diversity. The complementary algorithm of flexible multibody systems with friction multi points into association matrix and collision problem. The four contact points set to describe the multi point collision of contact / separation, viscous / sliding state. Global dynamics equation is divided into initial separation, collision, viscous sliding collision, the collision of four collision state. The initial velocity jump jump coordination conditions using impulse / momentum method. Moving in continuous contact state, according to the viscosity forward / reverse / sliding, sliding state structural contact constraint, the complementary conditions describe the dynamic contact conditions are simple, accurate and easy to realize the dynamic mechanics of collision The numerical simulation of frictional impact between a flexible manipulator and two obstacles is carried out. The location of the impact points, the sticky / slip of the impact points, the viscous / forward small slip, the viscous / reverse micro slipping are studied.

【學位授予單位】：南京理工大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP241
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本文編號：1410883