| With the development of science and technology, flexible material has been widely applied in machinery, which is high-speed of operation, less energy consumption, compacted structure, high ratio of load to mass, etc. But, with the high speed movement, large overall motion and elastic deformation of the flexible body will couple with each other. The dynamic characteristics of the flexible system become sophisticated, which are strong nonlinear and time-variant, and have strong coupling characteristics. Therefore, the dynamic modeling and control research of the flexible system have important theoretical significance and practical application.Flexible manipulator is a typical flexible-rigid coupling system, having been widely applied in the aerospace, robot and many other high-technology areas. In this paper, the hub-flexible manipulator and two-link rigid-flexible manipulators are studied, which move in plane and have quality at the end of flexible manipulator. The dynamic modeling theory, dynamic characteristic analysis, synchronization control method and dynamic response test of the system are mainly researched, and they lay a foundation for complex multibody dynamic system research. The main research contents of this paper are as following:Firstly, based on the assumed mode method and Lagrange principle, the first order approximation coupling model of hub-flexible manipulators is established; the influence of mode truncation to model is analyzed; accuracy and applicability of zero and first order approximation coupling model is researched; the influence of the flexible manipulator speed and quality of tip to the dynamic characteristics are discussed. Then, the dynamic response of two-link rigid-flexible manipulators with known and unknown large motion are studied.Secondly, based on state observer, a feedback synchronization control strategy is proposed, with which large motion and deformation of flexible manipulator are controlled. Besides, the effect of controller parameters on the control synchronization are discussed.Then, combined with ANSYS and ADAMS software, a visual dynamic simulation system of the flexible manipulator is established. The flexible body is established respectively with two methods, ANSYS and ADAMS/AutoFlex. Different results of ANSYS-ADAMS simulation, ADAMS/AutoFlex simulation and dynamic equation solved by MATLAB are be compared and analyzed..Finally, based on CCD and image processing technologies the dynamic response test system of the flexible manipulator is established, which obtain the time domain response, time-frequency diagrams, frequency and damping ratio of the flexible manipulator. |
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