救援机器人柔性多体系统耦合动力学建模、分析与振动控制研究

项目名称： 救援机器人柔性多体系统耦合动力学建模、分析与振动控制研究

项目编号： No.11302147

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 数理科学和化学

项目作者： 陈炜

作者单位： 天津理工大学

项目金额： 29万元

中文摘要： 救援机器人在灾害、战场代替人类执行救援任务，发挥了巨大的作用，具有广泛的研究价值和应用前景。因此，设计集搜寻、营救、搬运、救护于一体的轻便灵巧的救援机器人，使其具有较强的作业能力和良好的动态特性，成为这一领域的关键问题和前沿课题。本项目从移动机构和机械臂组成的救援机器人整体这个角度出发，在结构上采用以柔性构件为主的双柔性机械臂，综合考虑复杂地形因素和机械臂的柔性特点，利用柔性多体动力学和多体系统传递矩阵法相结合的混合方法建立总体动力学模型；通过系统中各运动部件之间以及刚-柔构件之间的动力学耦合特性分析，阐明动力学因素对动力性能的影响规律，明确动力学参数对振动的控制、调节机理；采用修改结构参数与施加控制策略的主、被动控制相结合的方法，有效解决机器人运动中由路面不平和构件柔性等因素引起的振动问题，为获得机器人末端理想精度和良好的动态性能提供理论基础和技术支持。

中文关键词： 救援机器人；柔性机械臂；改进的多体系统传递矩阵方法；耦合动力学；振动控制

英文摘要： Rescue robots to replace human in completing a rescue mission in the disaster or on the battlefield, play a huge role and has the wide research value and the application prospect. Therefore, design set search, rescue, transportation, services in one of a light and dexterous rescue robot, which has strong working ability and good dynamic characteristics, becomes the key problem and the frontier topic in this field. In this program, from the point of view of the whole system consists of the mobile platform and the manipulator, a rescue robot with two flexible manipulators in struture is applied to be investigated. Firstly, considering complex terrain factor and the flexible members, a general dynamics model of the system will be established using the hybrid method combining the flexible multibody dynamics and transfer matrix method for multibody system dynamics. Secondly, through the analysis of dynamics coupling effects of the rigid-flexible components and the ones of the moving parts, the mechanism of motion performances affected by dynamics will be illuminated. And the influence of the dynamics parameters on vibration will be clarified. In addition, the vibration problem in motion caused by the rough terrain and the flexible components will be effectively resolved by an internal-external combination method of m

英文关键词： Rescue Robot；Flexible manipulators；The improved Transfer Matrix Method of Multi-body；Coupling Dynamics；Vibration Control