基于浮动坐标系的大变形柔性机器人动力学建模和仿真

项目名称： 基于浮动坐标系的大变形柔性机器人动力学建模和仿真

项目编号： No.11272155

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 数理科学和化学

项目作者： 章定国

作者单位： 南京理工大学

项目金额： 86万元

中文摘要： 本项目以航天和机器人工程为背景，针对太空机器人这类具有轻质、大跨度、高效、灵活等特点的复杂机器人在运动过程中出现的构件大变形和强烈的刚柔耦合等动力学过程问题，通过理论建模和数值仿真手段，重点研究高效和通用的基于浮动坐标系的柔性杆柔性铰机器人在大变形下的刚柔耦合动力学建模理论和计算机仿真技术。本课题的研究不仅在机器人和航天领域有重大的应用价值，而且对推动多柔体系统动力学理论的发展具有重要的学术价值。本课题的主要研究内容为：1.复杂几何杆形的单杆柔性机器人的大变形刚柔耦合动力学建模和动力学性态研究，并提出精确描述复杂几何形状、高效的变形体离散方法；2.复杂拓扑构型和几何杆形的多杆柔性机器人考虑铰柔性效应和质量效应，考虑杆大变形效应的刚柔耦合动力学建模理论和仿真技术；3.能实现上述建模理论程式化计算的柔性杆柔性铰机器人动力学仿真软件的研制。

中文关键词： 浮动坐标系；柔性机器人；大变形；刚柔耦合；建模和仿真

英文摘要： In the fields of aerospace, aviation and robotics, the modern robots are now developing towards the high speed, precise and smart operation, the large span structures, and the lightweight materials with distributed flexibility. In these cases the large deformations of structures, the dynamic coupling between the large overall rigidbody motion and the deformations of the robot system have become a general puzzle and a key technique in the above engineering fields. In this project the above outstanding problems will be investigated in details at the levels of theoretical analysis and numerical simulation. The universal and efficient dynamic modeling theory and numerical simulation technique for the flexible-link and flexible-joint robots with large deformations will be studied via using the floating frame of reference formulation. The research work carried out in this project will benefit to the applications in the fields of aerospace, aviation and robotics, and also enrich the dynamics theory of flexible multibody systems. This project will mainly focus on the following topics: 1. The precise description of the link with complex geometric shape, and its corresponding efficient discretizing method; the investigation into the dynamic modeling and dynamic properties of the one-link flexible arm with complex geome

英文关键词： Floating frame of reference；flexible robot；large deformation；rigid-flexible coupling；modeling and simulation