Dynamic Modeling Simulation And Prototype Optimization Of Variable Structure Flexible Manipulator

In this paper,the rigid-flexible coupling dynamics problem in the flexible multibody system is studied.The dynamics modeling and simulation analysis are carried out for the central rigid-variable-section flexible beam system and hollow flexible beam system with less research at home and abroad.The kinematics analysis,vibration optimization,and motion curve optimization analysis of the flexible arm structure with flexible joints and the arm are optimized to optimize the motion parameters during the movement,so that the movement of the robot arm is stable,accurate and fast.In this paper,the rigid-flexible coupling dynamics analysis of four different structural rigid body-flexible beam(Euler Bernoulli beam)systems is carried out.The influences of the wedge beam and the hollow part on the end deformation displacement of the beam system are studied with the equal section beam,the variable section beam,the equal section profile beam and the variable section profile beam.The width and height of the variable section beam vary linearly along the axial direction.The deformation of the beam not only includes axial and lateral deformation,but also longitudinal shortening caused by lateral bending.The hypothetical modal method and the second type of Lagrange equation are used to establish the dynamic equation of the system,and the software is written in C++ for dynamic simulation.Under the same conditions,the beam size and hollow part have obvious influence on the deformation displacement of the beam end.When the beam is in large deformation,the high-order coupled model can still get correct results,so it is modeled on the actual model.It is important to establish a structure that fits the actual section.Secondly,for the return beam,the influence of the rigid body radius,angular velocity and driving torque on the dynamic characteristics of the flexible beam is studied.The simulation software of rigid-flexible coupled model is compiled by C++.The first approximate coupled model of the equal-section flexible beam and the dynamic equation of the zero-order approximate coupled model are calculated.The lateral deformation displacement of the end point of the flexible beam is analyzed and compared with Adams software.The simulation analysis and comparison verify the shortcomings of the zero-coupling model in dealing with the dynamics of flexible multi-body systems.The shortcomings of Adams in dealing with the rigid-flexible coupling model of large-scale high-speed rotation,and the first approximate coupling model established in the paper.Applicable to the treatment of large-scale high-speed flexible beams.Finally,the kinematics,modal analysis and forced vibration analysis are carried out for the rigid-flexible virtual prototype of the ship-mounted mechanical arm with flexible joints and arms.The vibration of the mechanical arm is optimized by damping,and the motion curve of the mechanical arm is fitted by Matlab curve.optimization.Through the optimization of the flexible joint damping of the manipulator,the vibration of the end effector is observed,and the optimal parameters for suppressing the end vibration are obtained.According to the influence of different motion curves on the motion accuracy of the manipulator,Matlab is used to optimize the S-curve,and the optimized S-curve is used as the driving curve to realize the high-speed and stable execution of the robotic arm.