关键词: 柔性操作臂, 哈密顿体系, 动态约束, 动力学

Abstract:

The dynamic characteristic of the space flexible manipulator driven by harmonic retarder fixed in joint was researched under hamilton’s canonical equations. Considering the flexible effect of the harmonic retarders, the style of dynamic constraint of the flexible beam during control was analyzed; then, the modal frequency and vibration shapes related to the control parameters and hamonic retarder’s rigidity parameter were obtained. Referering to both the joint and the beam flexibility, the dynamic equations coupled control parameters were built. The dynamic responses under different control parameters were simulated with examples, therefore, the validity of the system model was certificated.

Key words: flexible manipulator, Hamilton’s canonical equations, dynamic constraint, dynamics