Research On Control And Dynamics Of Double Flexible Mechanical Arm System

With the widespread application of flexible mechanical arm inastronautics and robot, the flexible polysome system vibrationabatement question more and more receives the attention. Thisarticle is based on the Jilin Province science and technologydevelopment project:"The initiative restraint damping level theflexible mechanical arm systems dynamics research and its theoptimized control". The paper is based on the multi-rigid bodiessystems dynamics and the flexibility polysome systems dynamicsas the rationale, uses the related mathematics theory of mechanicsand the method inferential reasoning polysome systems dynamicsequation. In most situations, the polysome system dynamicequation is the non-linearity the ordinary differential equation orthe differential -algebra system of equations, it is generally obtainsthe equation through the computer value simulation then get thenumerical solution, then through to numerical solution analysis,understanding polysome system dynamics characteristic. At present,the most domestic and foreign scholars, the majority uses the finiteelement method modelling, and is restricted in the frequency rangeanalysis. This article take the double flexible mechanical arm as anexample, uses the Lagrange method modelling, first pole onlyconsiders the flexibility but not to have the control, the second polealready considered at the same time the elastic deformation usesthe initiative control, and analyzes its dynamics characteristic in thetime domain.The main research content of this paper as follows:1,Uses the Lagrange method establish the general form of thesystems dynamic equation, this is two steps the ordinarydifferential equation. Through kinetic energy, potential energy,strain energy computation, define qualitymatrix, rigiditymatrix,generalized force and generalized velocity two items.2,According to the dynamic equation has been stated, theselection simple beam modality function takes the primary function,also takes two steps modalities, calculates in the equationspecifically various coefficients and the free item, then through theRunge-Kutta method, carries on the numerical integration to theabove equation, finally carries on dynamics analysis to the valuesimulation result.3,Compare the flexible mechanical arm system dynamicscharacteristic by four ways.(1) Is independent and the non-independent coordinatesLagrange equation comparison;(2) Distributes the parameter model and the Lagrangeequation comparison;(3) Selects differently moves the coordinate system thecomparison;(4) Selects the different primary function the comparison.Carries on these analyses, it is without doubt that the analyses iscompensates to the system forward feed with the reaction controlprovides the essential reference.