| The contact-impact dynamics of flexible robot system is the time varying, instantaneous, boundary changing and nonlinear dynamic.Taking friction into account, the oblique-impact contains the coupling of normal and tangential collision forces. How to judge the friction state (sliding or viscosity) of contact-impact objects is the contact-impact urgent matter. The transformation criterion of objects’friction state has been a hot issue about contact-impact at home and abroad. On the basis of their research, this dissertation has innovatively researched the oblique-impact containing friction about flexible robot system. In this dissertation, the flexible robot system is simply composed of flexible links mutually connected by joints, which is very convenient to research. The dynamical equations of flexible robot system has been built by the homogeneous coordinate, the homogeneous transformation matrices, the mode assumption method, the Second Lagrange equation and so on; The oblique-impact dynamic equations of flexible robot system which is a variable topology has been built by the contact constraint method, the coulomb-friction law, the constraint violation correction method, which have considered the frictional effect and included the judgment of friction state (sliding or viscosity) in the contact-impact process. Then the author makes a program by C++to calculate some examples and compares the result and the data of obtained thesis and model. Finally,the data comparison of above has demonstrated that the model of flexible multi-body robot system is correct, rational, effective and accurate. |
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