Multiple Degrees Of Freedom Manipulator Rigid-flexible Coupling Dynamic Characteristics

With the technical development of aerospace and robot, the flexible manipulator has received more attention. The structure of flexible manipulator is that its links are light and elastic. It have many advantages on operating speed, working efficiency and energy consumption, Which makes the study of dynamic theory and control of flexible manipulator become a studying aspect in the mechanical engineering and mechanics field. This thesis studies the dynamic theoretical research of multi-degree-of-freedom flexible manipulator system, which provides theoretical foundation for the further research of dynamic optimization and motion control of flexible manipulator.Firstly, the nonlinear dynamic motion equations of two degrees flexible manipulator were deduced based on Lagrange theory and flexible multi-body system dynamics. The influence of structure parameters on dynamic characteristic is analyzed by the use of numerical method and the coupling influence between flexible deformation and the motion is disclosed, the vibration frequency of large and small manipulator is obtained and contrasted with the theoretical value.Secondly, based on the reasonable approximation and simplification on the spacecraft flexible deployable manipulator, the nonlinear dynamic differential equations is founded by the use of Lagrange's Equation and assumed mode method. Dynamic characteristic is solved in numerical method. The influence of structure parameters and deployable rule is studied on dynamic characteristic and vibration performance. Result indicated that manipulator with flexible deploying appendages have obvious dynamic characteristics than general manipulator of time-invariant model.Thirdly, Combination of the two studied flexible manipulator model forms the multi-degree-of-freedom flexible manipulator, the simplified system model is founded and complex dynamic equation of flexible multi-body system is derived. The equation is highly nonlinear and strong coupling. The response of mode coordinate and dynamic parameter of flexible body is obtained in the numerical method.